Classifications

• • H—ELECTRICITY
  • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
  • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
  • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
  • H05K13/02—Feeding of components
  • H05K13/021—Loading or unloading of containers

Definitions

• the present invention relates to an electronic circuit component supply apparatus, and in particular, to a component container in which a plurality of electronic bright circuit components are removably accommodated in each of a plurality of component accommodation units arranged in a plane so as to take out the electronic circuit components. This is related to improving the supply accuracy of the supply device. . ' book
• a tray containing electronic circuit components is supported by a pallet and electronically.
• the tray is provided with a plurality of component receiving recesses in one plane, each of which holds an electronic circuit component.
• a plurality of pallets supporting a tray are respectively set on a plurality of tray setters supported by an elevating member, and are held vertically by the elevating member.
• a plurality of pallets are sequentially positioned at a preset component supply position by raising and lowering the lifting member by the lifting device.
• a pallet moving device is provided at the component supply position. The pallet positioned at the component supply position is moved horizontally to take it out of the tray setter, and to take out electronic circuit components contained in the tray. Move to the allowed position. Disclosure of the invention
• the tray setter is supported so as to be able to be pulled out from the elevating member, and the pallet is merely placed on the tray setter.
• the pallet and the pallet move relative to the pallet and the pallet due to the impact applied to the pallet by the acceleration and deceleration at the start and stop of the lift.
• the electronic circuit components contained in the tray may shift or change posture, and the supply of the electronic circuit components may not be reliable or accurate.
• the pallet When the pallet is moved by the pallet moving device, the pallet is supported from below by a pair of supports provided on the frame. However, since the movement in the left and right directions is not restricted, the impact applied when the movement starts and stops In addition, the pallet may vibrate due to sliding resistance between the support and the supporting portion, and the electronic circuit components may be displaced.
• the pallet moving speed of the pallet moving device is reduced by lowering the pallet moving speed, vibration can be suppressed.However, it takes time to position the pallet to the parts supply position and the parts removal allowable position. However, supply efficiency is reduced.
• the present invention provides an electronic circuit component supply device that accommodates and supplies electronic circuit components to each of a plurality of component storage units provided in a planar shape of a component container.
• the object of the present invention is to improve the reliability or accuracy of the supply while suppressing the decrease.
• the following electronic circuit component supply device and electronic circuit component mounting machine can be obtained.
• each mode is divided into sections, each section is numbered, and if necessary, the form is cited in a form in which the numbers of other sections are cited. This is merely to facilitate understanding of the present invention, and it should not be construed that the technical features and combinations thereof described in this specification are limited to those described in the following sections. Absent.
• when two or more items are described in one section it is not always necessary to adopt these items together. It is also possible to select and adopt only some of the matters.
• a plurality of component housings each having a plurality of component housings arranged in a plane, and each of the component housings accommodating an electronic circuit component one by one, and a plurality of the components.
• a rack including a plurality of component container holding portions each of which holds at least one of the containers so as to be movable in a direction parallel to a component receiving plane in which the component receiving portion is arranged;
• a rack elevating device that raises and lowers the rack in a direction intersecting with the component storage plane; When the rack elevating device is stopped, the component container is moved in a direction parallel to the component storage plane, and the storage position stored in the rack, and the electronic circuit component pulled out of the rack and stored in the component storage unit And a parts container moving device that moves the parts
• An electronic circuit component supply device including:
• An electronic circuit component supply including a vibration suppressing device that suppresses vibration of the component container at least one of when the rack is moved up and down by the rack elevating device and when the component container is moved by the component container moving device. apparatus.
• the component container may directly accommodate electronic circuit components, or may indirectly accommodate electronic circuit components via a tray, such as a tray pallet.
• a tray such as a tray pallet.
• the component housing is provided in the component housing itself, and in the latter, the tray provided with the component housing is housed in the component housing, so that the component housing of the tray becomes the part of the component housing. It will function as a product storage unit.
• the component accommodating portion is, for example, a component accommodating recess for accommodating and positioning the electronic circuit component.
• the component storage plane is not limited to one plane, and may be a multi-level plane (for example, when the component storage unit is a component storage recess, the depth of the component storage recess is different in one component container).
• the rack has a plurality of component container holders, and at least one component container is held in each of the component container holders in the same posture as when electronic circuit components are supplied, and is moved up and down by the elevating device. Anything should do.
• the component container has only two openings that open in both the forward and reverse directions of movement by the component container moving device, and the component container can be attached and detached only in the opening direction.
• the component container may be stored so as to cover all of them.
• a plurality of plate-like component container holding members arranged in multiple stages each have a component container holding portion provided to cover the component container. It may be stored without.
• the rack elevating device preferably moves the rack up and down to sequentially position each of the component containers respectively held by the plurality of component container holding units at the component supply position. It is desirable that the component containers positioned at those component supply positions be pulled out of the rack.
• the electronic circuit component supply device of this section at least one of the vibration of the component container when the rack is moved up and down and the vibration when the component container is moved by the component container moving device are suppressed. Vibration can be suppressed without reducing the speed of moving the rack up and down or moving the parts container, so that the supply efficiency can be improved while suppressing the decrease in supply efficiency.
• the vibration of the component case is suppressed both when the rack is moved up and down and when the component case is moved, the vibration is best suppressed. As a result, it is possible to minimize the drop in the supply efficiency and to reduce the occurrence of an error in taking out the electronic circuit component from the component housing due to the shift or change in the posture of the electronic circuit component, or to reduce the error in the holding position of the electronic circuit component by the component holder.
• the vibration suppressing device includes a relative movement preventing device that prevents relative movement between the rack and each of the plurality of component containers at least when the rack moves up and down.
• the electronic circuit component supply device according to item (1).
• the component container If the component container is prevented from moving relative to the rack, the component container does not move relative to the rack even if an impact is applied to the component container when the rack moves up and down, and the component container is moved to the rack. Vibration of the parts container is suppressed as compared with the case where the parts can be moved relative to.
• the relative movement preventing device may be, for example, a component container holding device that holds the component container by a holding member and prevents movement of the component container with respect to the rack.
• the component container holding device may be, for example, a component container holding device that holds a component container and fixes it to a rack, as in the electronic circuit component supply device described in (3), or A component container suction device including a suction member that suctions and holds the component container may be used.
• the relative movement preventing device is provided at a portion corresponding to each of the plurality of component container holding portions of the rack, and the component container held by the component container holding portions is provided.
• the electronic circuit component supply device according to (2) including a component container gripping device that is fixed to the rack by gripping.
• the component container is fixed to the rack by the component container holding device, so that movement of the component container relative to the rack is prevented, and vibration is suppressed.
• the component container holding device includes a first holding member and a second component provided at a pair of two positions of the rack separated from each other in a moving direction of the component container by the component container moving device.
• the electronic circuit component according to (3) including: a gripping member; and a pair of first gripping member driving devices and a second gripping member driving device that respectively drive the pair of gripping members independently of each other. Feeding device.
• the first and second gripping members are driven by the first and second gripping member driving devices, respectively, and are moved to a gripping position for gripping the component container and a release position for releasing.
• the two first gripping members are provided in a plane parallel to the component housing plane and separated from each other in a direction intersecting with the component container moving direction.
• the component container is configured such that the first and second gripping members engage with each other at four positions separated from each other in a plane parallel to the component storage plane, and thereby the components are stored in a plane parallel to the component storage plane.
• the two parts separated from each other in the direction intersecting the container movement direction are gripped by the first gripping member and the second gripping member, respectively, and are firmly fixed to the rack, and the vibration is favorably suppressed.
• Each of the pair of first gripping member driving devices and the second gripping member driving devices is provided with a plurality of first gripping members and a second gripping portion provided for each of the plurality of component container holders.
• the electronic circuit component supply device according to (4) which is provided commonly to the members. According to this aspect, the component container holding device can be easily configured.
• the vertical direction of the rack is the vertical direction
• the component receiving plane is a horizontal plane
• the first gripping member and the second gripping member are provided on the rack so as to be rotatable around a vertical axis.
• the first gripping member driving device and the second gripping member driving device include a first gripping claw rotation device and a second gripping claw rotation device, respectively.
• the first and second gripping claws may be linearly moving claws, but if they are rotating claws, for example, the gripping claws require less space for movement for gripping and releasing the component container.
• the component container holding device can be configured compactly.
• a rotation limit specifying device that defines a rotation limit of the first gripping claw in a direction of gripping the component container, wherein the driving force of the second gripping claw driving device is the first gripping claw driving device.
• the second gripping claw engages with the engaged portion of the component container when gripping the component container, and the engaging portion contacts the engaged portion.
• the second gripping claw can be made of a leaf spring material.
• the portion of the leaf spring material that engages with the engaged portion functions as an engaging portion, and the portion between the engaging portion and the base end portion functions as an elastic deformation portion.
• a fixed member and a movable member are connected to each other so that the second gripping claws can move relative to each other (either relative rotation or relative parallel movement), and an elastic member disposed between the two members. It is also possible to use
• the movable member functions as an engaging portion that engages with the engaged portion.
• the second gripping claw is configured such that, after the engaging portion is engaged with the engaged portion and the first and second gripping claws are both engaged with the component container, the elastically deforming portion is further elastically deformed.
• the first and second gripping pawls can reliably grip the component container. Also, even if there is a manufacturing error or the like in the component container or the first and second gripping claws, it is absorbed by the elastic deformation of the elastically deforming portion, and the component container is not damaged.
• the component container can be securely held.
• the second gripping claw elastically engages with the component container, and the first and second gripping claws securely grip the component container. Due to the frictional force between the components, the relative movement between the component container and the rack in the direction intersecting with the component receiving plane and in the direction intersecting with the component container moving direction in the component receiving plane is regulated, and vibration is suppressed. .
• the component container holding portion includes a pair of rails provided so as to extend in parallel with a moving direction of the component container by the component container moving device, and the component container is provided on the pair of rails.
• the electronic circuit component supply device according to any one of (1) to (9), including a pair of supported portions to be supported.
• the transport conveyor holds a pair of endless transport members, a circulating drive for rotating the endless transport members along a predetermined path, and a held portion of the component container.
• a holder that moves at the same speed as the pair of endless transport members, and the pair of endless transport members are rotated by the orbital driving device in a state where the holders hold the held portions of the component container.
• the component container is transferred from the component container holder of the rack onto the pair of endless transport members, and
• the electronic circuit component supply device according to the above mode (11), wherein the configuration adapted to be further conveyed constitutes the vibration suppressing device.
• a dedicated holder moving device It is also possible to move the holder at the same speed as the endless transport member by a dedicated holder moving device. However, if the holder is attached to the pair of endless transport members, a dedicated holder moving device can be omitted. It is desirable that the holder is driven by a holder driving device provided on the conveyor to hold and release the held portion. Examples of the endless transport member include a belt and a chain.
• the component container By moving the holder at the same speed as the endless transport member, the component container is moved at the same speed as the endless transport member. Therefore, the endless transport member and the component container move physically, there is no slippage between them, and the component container is carried on the endless transport member without being held by the holder. In such a case, the component container and the endless transport member are prevented from vibrating due to repeated relative movement and integral movement. Also, the parts container slides against the surface that supports it. In this case, the vibration of the component container can be reduced as compared with the case where the component container is mounted, and the component container and the surface supporting the component container are not worn, so that the life is improved.
• the transport conveyor transports the component container by a pair of endless transport members, it should be stably supported and transported while reducing the supporting area of the component container by the endless transport member.
• the conveyor may have one endless conveying member.
• the component container is supported by one wide belt. And may be transported.
• the vibration of the component container is suppressed by the elastic deformation of the endless transport member and the vibration damping due to internal friction.
• the conveyor belt is a timing belt provided with a large number of teeth on an outer peripheral surface
• the circling drive device includes:
• a belt support member for supporting an inner peripheral surface of a portion of the timing belt supporting the component container
• the electronic circuit component supply device comprising:
• the belt support member is, for example, a guide pulley or a guide rail. If a timing belt is used as the endless transport member, there is no slippage between the endless transport member and the orbiting driving device, and the endless transport member can be accurately rotated to position the component container accurately.
• the timing belt is provided with a large number of teeth on the outer peripheral surface, and the belt supporting member supports the flat inner peripheral surface of the timing belt, so that the vibration when the timing belt rotates can be suppressed.
• the conveyor belt is a timing belt that has teeth on the inner peripheral surface, many teeth of the timing belt and the belt support member repeatedly collide with each other and can easily cause vibration.
• the support belt is a guide belt or a guide pulley, it is possible to avoid the occurrence of vibration due to repeated collision with the teeth. In particular, if the supporting member is a guide pulley, there is no slip with the timing belt, and the generation of vibrations can be more favorably avoided.
• the belt support member is a guide rail
• the contact surfaces between the guide rail and the timing belt be formed of a low friction material.
• the low friction material can be made of, for example, polytetrafluoroethylene.
• the antifriction material layer forms the main body. If it is formed of a material having a lower friction coefficient than the material, an antifriction effect can be obtained.
• the electronic circuit component supply device according to any one of (11) to (14), including a guide device for guiding movement of the component container by the component container moving device.
• the guide member is, for example, a rail or a roller.
• Each of the pair of guide members has a rail shape, one is a fixed rail, and the other is a movable rail provided so as to be able to approach and separate from the fixed rail, and the movable rail is approaching the fixed rail.
• the electronic circuit component supply device according to the above mode, further comprising an urging device that urges the vibration device in a direction in which the vibration suppressing device is configured.
• the movable rail elastically sandwiches the component container between the fixed rail and the movable rail, prevents vibration in a direction intersecting the moving direction of the component container in the component receiving plane of the component container, and reduces vibration of the component container. Is suppressed.
• the electronic circuit component supply device according to any one of (12) to (17), including an acceleration / deceleration control unit, wherein the acceleration / deceleration control unit constitutes the vibration suppression device.
• the acceleration and deceleration are smoothly increased and decreased at the start and end of the transport of the component container, respectively, and the component container starts moving with little impact. , Stopped, and vibration of the parts container at the start and stop of movement is suppressed.
• vibration absorbing material examples include a porous resin such as a foamed resin, for example, foamable polyethylene.
• the tray does not easily vibrate, and the displacement of the electronic circuit component can be reduced.
• the vibration suppressing device includes a restraining device for restraining the tray supported by the pallet immovably with respect to the pallet in a direction parallel to the component receiving plane.
• Electronic circuit parts supply equipment
• the electronic circuit component supply device of this section when the tray is moved together with the pallet by raising and lowering and moving the pallet, the tray does not move with respect to the pallet, and the predetermined position in the pallet is maintained. In this way, electronic circuit components can be supplied, and vibration is suppressed.
• the pallet can be easily handled by the operator, the drive source of the rack elevating device can be made small, and even if the tray is heavy, it is hard to bend and can be favorably supported.
• the thickness can be reduced as compared with the case where the whole is made of a metal material. For example, the space occupied in a rack is small, and for example, more space is required.
• the tray can be supported, or it can be stored in a rack with a margin.
• the metal material layer is made of a conductive metal, it is possible to prevent pallets and trays from being charged, thereby preventing static electricity from being generated.
• the vibration suppressing device includes a restraint device for restraining the tray supported by the pallet immovably in a direction parallel to the component housing plane, wherein the metal material layer is a magnetic material layer.
• the restraining member is detachably fixed to the pallet by magnetic force, and restrains the tray immovably.
• the restraining member can be fixed at any position on the pallet, and can be used to restrain a plurality of types of trays having different shapes, dimensions, and the like.
• the vibration suppression device is configured to have at least a relative height error between the rack elevating device and the component container moving device and a relative height error between the plurality of component container holding units. Irrespective of the presence of one, the height of the height of the height of the holding surface of the plurality of component container holders that holds the component container and the height of the support surface of the component container moving device that supports the component container.
• the electronic circuit component supply device according to any one of (1) to (25), including a matching device.
• the relative height error between the rack elevating device and the component container moving device and the relative height error of the plurality of component container holding units for example, the plurality of component container holding units
• the holding surfaces for holding the respective component containers of the plurality of component container holders are replaced by the components of the component container moving device. It can be located exactly in the same plane as the support surface supporting the container. Therefore, the component container can be smoothly transferred between the rack and the component container moving device, and the vibration of the component container can be suppressed.
• a component container holder detecting device that is provided at one position in the vertical direction of the rack, detects that at least one of the plurality of component container holders has reached a set height, and issues a detection signal.
• the holding surface for holding the component container of each of the plurality of component container holding portions is located in the same plane as the support surface.
• the electronic circuit component supply device according to any one of (1) to (25).
• the holding surface for holding each of the component containers of the plurality of component container holding portions is positioned exactly in the same plane as the support surface for supporting the component container of the component container moving device. Can be done. Therefore, the transfer of the component container between the rack and the component container moving device can be performed smoothly, and the vibration of the component container can be suppressed. It is desirable that the component container holder detecting device itself is provided at the set height, and that at least one of the plurality of component container holders detects that the set height has been reached, Not essential. What is necessary is that there is a known relationship between the arrangement height of the component container holder detection device and the set height.
• the rack The stop position of the lifting device may be determined, or the rack lifting device may be stopped.
• the “difference between the set height and the height of the support surface” includes 0. That is, the position at which the component container holding unit detecting device detects the component container holding unit may be the same as the position at which the rack elevating device is stopped. However, when the rack elevating device is stopped at the position for positioning the holding surface in the same plane as the supporting surface based on the detection of the component container holding part, for example, the height of the supporting surface is set higher than the set height. Set the distance above (or below) the distance and set it based on the detection signal of the component container holder detection device.
• the component container holder detection device automatically detect that at least one of the plurality of component container holders has reached the set height. You may make it. For example, the difference between the set height and the height of the support surface is set to 0, and the position where the holding surface of the component container holding portion can be positioned substantially in the same plane as the support surface using a clearance gauge is used. And obtain the operating position of the rack elevating device at that time.
• the acquired operation position is, for example, using an input device, a storage unit of a control unit that controls the elevation of the rack elevating device, information that can specify the component container holding unit, and information that can be specified in the rack provided with the component storage unit. Store them in association with each other.
• the rack elevating device is controlled using the stored operating position, and the holding surface of the component container holding portion is automatically positioned in the same plane as the support surface.
• the component container holder detecting device detects that two or more of the plurality of component container holders have reached the set height, respectively.
• the lifting control unit controls the rack lifting device based on two or more operating positions of the rack lifting device when the detection signals for the two or more component container holding units are issued.
• the electronic circuit component supply device according to the above mode (27).
• the component container holding unit detecting device detects that two or more of the plurality of component container holding units have reached the set heights, respectively, and outputs a detection signal. Emit. It is desirable that the component container holder detection device should detect that all of the multiple component container holders have reached the set height, but this is not essential and two of the multiple component container holders can be detected.
• the effect of the invention according to this item can be obtained by detecting arrival of at least one of them at the set height. For example, the uppermost and the lowermost of the plurality of component container holders are detected to reach the set height, and the two rack elevating device operating positions at which the detection signals are issued are detected.
• the rack elevating device is stopped at a plurality of positions determined by interpolation calculation based on the two operating positions, the accumulation of positioning errors of the plurality of component container holders by the rack elevating device is eliminated.
• the two component container holders one with a height slightly lower from the top and one with a height slightly higher from the bottom, are detected by the component container holder detection device,
• the rack elevating device may be stopped at a plurality of positions determined by the interpolation and extrapolation calculation based on the operating positions of the two corresponding rack elevating devices.
• the operating position of the rack elevating device is determined by the drive source of the rack elevating device (for example, an electric motor such as a servo motor that can accurately control the rotation angle) or an encoder provided in a transmission device that transmits the movement of the rack elevating device. Alternatively, it can be detected by an operation amount or an operation position detector such as a linear encoder for detecting the position of the movable member moving in the vertical direction.
• the drive source of the rack elevating device for example, an electric motor such as a servo motor that can accurately control the rotation angle
• an encoder provided in a transmission device that transmits the movement of the rack elevating device.
• it can be detected by an operation amount or an operation position detector such as a linear encoder for detecting the position of the movable member moving in the vertical direction.
• All of the plurality of component container holders are the component container holder detectors.
• the elevating control unit includes a rack elevating device operating position storage unit that stores an operating position of the rack elevating device when the component container holding unit detecting device issues a detection signal.
• the electronic circuit component supply device according to any one of the above (29).
• the component container holder detector detects the set height of the component container holder each time.
• the rack elevating control unit can stop the rack elevating device based on the detection, in which case the rack elevating device operating position storage unit becomes indispensable. .
• the rack elevating device operating position storage unit is provided, there is an advantage that it is not indispensable that the component container holder detecting device detects that the component container holder reaches the set height every time.
• the rack elevating and lowering device it is desirable to lower the operating speed of the rack elevating and lowering device in order to increase the detection accuracy of the reaching of the component container holding portion to the set height by the component container holding portion detecting device.
• the component container holder detection device does not need to detect the arrival of the component container holder at the set height every time, the effect of improving work efficiency can be obtained.
• the elevation control unit is configured to operate based on an operation position of the rack elevating device when the component container holding unit detection device outputs a detection signal, and a difference between the set height and the height of the support surface.
• a stop position determining section for determining a plurality of stop positions of the rack elevating device for positioning the holding surface in the same plane as the support surface (27) to (30).
• An electronic circuit component supply device according to any one of (1) to (31), a board holding device for holding a circuit board on which the electronic circuit component is to be mounted, and a mounting head.
• a mounting device that receives an electronic circuit component from the component supply device by a mounting head and mounts the electronic circuit component on a circuit board held by the substrate holding device; and a control device that controls at least the mounting device.
• the supply accuracy and reliability by the electronic circuit component supply device are high, and the removal error of the electronic circuit component from the electronic circuit component supply device by the mounting head is small.
• the error of the holding position of the electronic circuit component by the mounting head or the mounting head is reduced. Therefore, the execution of extra operations such as re-installation of circuit components is reduced, and the operation efficiency of the electronic circuit component mounting machine is improved.
• the component container of the electronic circuit component supply device includes a pallet for supporting a tray, and
• a height acquisition unit for acquiring heights of all trays supported by the pallet on the pallet;
• a height control unit that controls the height of the mounting head when the electronic circuit components are removed from the tray based on the height acquired by the height acquisition unit;
• FIG. 1 is a plan view showing an electronic circuit component mounting machine according to an embodiment of the present invention.
• FIG. 2 is a side view showing the electronic circuit component mounting machine.
• FIG. 3 is a front view (partially sectional) showing a mounting device of the electronic circuit component mounting machine.
• FIG. 4 is a side view showing the mounting head of the mounting device together with the fiducial mark imaging system.
• Fig. 5 shows a state in which the tray-type component supply device of the electronic circuit component mounting machine is mounted on a cart. It is a side view which shows a state.
• FIG. 6 is a front sectional view showing a state in which electronic circuit components are accommodated in a tray of the tray-type component supply device.
• FIG. 7 is a plan view (partial cross section) showing a state in which the pallet of the tray-type component supply device is stored in a rack and is held by the pallet holding device.
• FIG. 8 is a side view showing the pallet.
• FIG. 9 is a sectional view showing a part of the pallet body of the pallet.
• FIG. 10 is a rear view showing the rack and the rack elevating device.
• FIG. 11 is a side view showing the rack and the rack elevating device.
• FIG. 12 is an enlarged plan view showing a state where the pallet is gripped by the pallet gripping device.
• FIG. 13 is a plan view showing a pallet moving device of the tray-type component supply device.
• FIG. 14 is a side view showing a transport conveyor of the pallet moving device.
• Fig. 15 is a diagram showing the holder of the pallet moving device together with a conveyor belt, etc.
• Fig. 15 (a) is a rear view (partial cross section) of the whole, and
• Fig. 15 (b) is FIG. 4 is a rear view showing a portion supported by the belt.
• Fig. 16 is a diagram for explaining the holding and release of the pallet by the holding tool.
• FIG. 17 is a plan view showing a movable rail for guiding the movement of the pallet.
• FIG. 18 is a rear cross-sectional view showing a state in which the movable rail is movably held by a rail holding member, and is prevented from being lifted by a lifting prevention member.
• FIG. 19 is a rear sectional view showing a state where the movable rail is urged by a spring in a direction to approach the fixed rail.
• FIG. 20 is a diagram illustrating notches provided in the rack and explaining positioning of the pallet at the component supply position, and FIG. 20 (a) illustrates a portion where the notches are provided in the rack.
• the front view, FIG. 20 (b) and FIG. 20 (c) are side views, respectively.
• FIG. 21 is a block diagram schematically showing a portion deeply relevant to the present invention in a control device for controlling the electronic circuit component mounting machine.
• FIG. 22 shows a transfer conveyor of a tray-type component supply device according to another embodiment of the present invention. It is a side view which shows the state in which the conveyor belt was supported by the guide rail.
• FIG. 23 is a plan view (partial cross section) showing a part of a state in which a pallet is held by a pallet holding device of a tray-type component supply device as still another embodiment of the present invention.
• FIG. 24 is a side view showing the pallet holding device shown in FIG.
• FIG. 25 is a plan view showing the transport conveyor and the guide device of the tray-type component supply device provided with the pallet holding device shown in FIG. 23 together with the pallet.
• FIG. 26 is a front view showing the holder and the engaging pin moving device of the transport conveyor shown in FIG. 25.
• FIG. 27 is a plan view showing one engagement pin of the holder shown in FIG. 26, an engagement pin moving device for moving the engagement pin, a guide device, and the like.
• FIGS. 1 to 21 An electronic circuit component mounting machine 10 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 21.
• This type of electronic circuit component mounting machine 10 is already known, for example, in Japanese Patent No. 2824378, except for the part relating to the present invention, and will be briefly described.
• reference numeral 12 denotes a base as a mounting machine main body of the electronic circuit component mounting machine 10.
• a printed circuit board conveyor 16 and a printed circuit board 14 as a board transfer device for transferring a printed circuit board 14, which is a kind of a circuit board, in the X-axis direction (left and right directions in FIG. 1).
• a printed circuit board holding device (hereinafter abbreviated as a “wiring board holding device”) as a substrate holding device for holding 18, an electronic circuit component 20 on the printed wiring board 14 (see FIG. 4.
• a mounting device 22 for mounting the circuit component 20 and an electronic circuit component supply device (hereinafter, a circuit component supply device for supplying the circuit component 20 to the mounting device 22) , A component supply device) 24, 26, etc. are provided.
• the printed wiring board 14 is conveyed in a horizontal position by the wiring board conveyor 16 and stopped at a predetermined work position by a stop device (not shown), and the work of the base 12 is performed.
• the wiring board is held by a wiring board holding device 18 provided at a portion corresponding to the position.
• the printed wiring board 1 .4, the mounting surface 28 on which the circuit component 20 is mounted (see FIG. 4, which is the upper surface in this embodiment) is supported in a horizontal posture.
• an XY coordinate plane is set for the entire electronic circuit component mounting machine 10, and on the XY coordinate plane, movement data and the like of a mounting head and the like of the mounting device 22 described later are set.
• the XY coordinate plane is, as shown in FIG. 1, a state in which the electronic circuit component mounting machine 10 is positioned from above, the component supply device 26 is positioned on the upper side, and the component supply device 24 is positioned on the lower side.
• the horizontal coordinate plane is defined as the X-axis direction in the left-right direction, the Y-axis direction in the upper and lower directions, and the positive direction in the right and upper directions.
• the parts supply devices 24 and 26 are fixed on both sides of the circuit board conveyor 16 so as to be separated from each other in the Y-axis direction orthogonal to the X-axis direction in the XY coordinate plane. It is provided stationary.
• the component supply device 24 is a feeder type component supply device
• the component supply device 26 is a S-tray type component supply device.
• the feeder type component supply device 24 includes a component supply table in which a number of feeders 30 are arranged on a feeder support table 32, and each component supply unit is arranged along a line, for example, in a direction parallel to the X-axis direction.
• each feeder 30 holds the circuit component 20 on a component holding tape (not shown) and supplies the circuit component 20 as a taped electronic circuit component.
• the taped electronic circuit components are sent at a constant pitch by a feeding device (not shown), and the circuit components 20 are supplied one by one from a component supply unit.
• the tray-type component supply device 26 accommodates the circuit components 20 in a tray 50 and supplies them.
• the tray-type component supply device 26 will be described later in detail.
• the mounting device 22 conveys the circuit component 20 by moving the mounting head 60 shown in FIG. 4 in a direction having components in the X-axis direction and the Y-axis direction which are orthogonal to each other, and conveys the circuit component 20. It is to be mounted on the mounting surface 28 of the plate 14. Therefore, as shown in FIG. 1, ball screws 64 are provided on both sides of the circuit board conveyor 16 of the base 12 in the Y-axis direction in parallel with the X-axis direction, and the X-axis as a moving member is provided.
• the two nuts 6 8 (only one is shown in FIG. 3) provided on the shaft slide 66
• These ball screws 64 are rotated by an X-axis slide drive motor 70, respectively, so that the X-axis slide 66 is moved to an arbitrary position in a direction parallel to the X-axis.
• the X-axis slide 66 has a length from the feeder type component supply device 24 to the tray type component supply device 26 beyond the wiring board conveyor 16 as shown in FIG.
• the movement of the X-axis slide 66 is guided by a guide device including a guide rail 72 (see FIG. 3) as a guide member.
• a guide rail 72 see FIG. 3 as a guide member.
• the nut 68, the ball screw 64, the X-axis slide driving motor 70, and the like constitute the X-axis slide moving device 76.
• a pole screw 80 (see FIG. 3) is set parallel to the Y-axis direction, and a Y-axis slide 82 as a moving member is screwed with a nut 84.
• a Y-axis slide 82 as a moving member is screwed with a nut 84.
• the ball screw 80 is rotated by a Y-axis slide drive motor 86 (see FIG. 1), the Y-axis slide 82 becomes a guide including a pair of guide rails 92 (see FIG. 3) serving as guide members. It is guided by the device and moved to any position parallel to the Y-axis direction.
• the nut 84, the ball screw 80 and the Y-axis slide driving motor 86 constitute a Y-axis slide movement device 94
• the X-axis slide 66, the X-axis slide movement device 76 and the Y-axis slide
• an XY moving device 96 as a relative moving device for relatively moving the printed wiring board 14 and the component supply devices 24, 26 and the mounting head 60 is constituted.
• the mounting head 60 is moved by the XY moving device 96 to any position in the horizontal plane that is parallel to the mounting surface 28.
• the support portion 102 provided on the Y-axis slide 82 has a head axial moving device for moving the mounting head 60 and the mounting head 60 up and down.
• a bar head elevating device 104 and a head rotating device 106 for rotating the mounting head 60 around its axis are provided.
• one set of the component mounting unit 108 is provided, but a plurality of sets may be provided.
• a plurality of component mounting units 108 can be provided on the Y-axis slide 82 in a row in parallel with the Y-axis direction.
• the component mounting unit 108 of the present embodiment has the same configuration as the component mounting unit described in Japanese Patent No. 3933339, and will be described briefly.
• the support 110 has an axis 110 provided so as to be movable in a direction parallel to the Z-axis direction (a direction perpendicular to the X-axis and Y-axis directions and a vertical direction) and rotatable around the axis.
• the suction nozzle 114 serving as a component holder is detachably held by a holder 112 provided at the lower end of the suction nozzle.
• the shaft 110 and the holder 112 constitute a mounting head 60.
• the head lifting / lowering device 104 uses a head lifting / lowering motor 120 as a drive source, and the rotation of the head lifting / lowering motor 120 is controlled by a rotation transmitting device including gears 122, 124 and nuts 1104. The rotation is transmitted to the nut 26 and the nut 126 is rotated, whereby the shaft 110 screwed to the nut 126 is raised and lowered, and the mounting head 60 is raised and lowered.
• the head lifting / lowering device 104 is also an approach / separation device for moving the mounting head 60 toward and away from the work object, and is considered to constitute a relative moving device together with the XY moving device 96. You can do that too.
• the head rotation device 106 uses a head rotation motor 130 (see FIG.
• the suction nozzle 1 14 has a nozzle body 1 38 as a main body and a suction pipe 140 as a suction unit, and sucks circuit components 20 by negative pressure and mounts it on the printed wiring board 14 I do. Therefore, the suction nozzle 114 is connected to a negative pressure source (not shown), a positive pressure source (not shown), and the atmosphere. , It is alternatively connected to the positive pressure source and the atmosphere.
• the suction tube 140 has a downward suction surface 142, and sucks the circuit component 20.
• the Y-axis slide 82 also has a fiducial mark camera 15 2 (see FIGS. 1 and 4), which is an imaging device that images a plurality of fiducial marks 150 (see FIG. 1) provided on the printed wiring board 14. ) Is immovable.
• the fiducial mark camera 152 is composed of a CCD camera and is a surface imaging device.
• An illumination device 154 is provided corresponding to the fiducial mark camera 152 to illuminate the fiducial mark 150 and its surroundings.
• the fiducial mark camera 15 2 and the lighting device 15 4 constitute a fiducial mark imaging system.
• X ball slide 6 6 has two balls just to move X axis slide 6 6 Positions corresponding to the screws 64, respectively, between the feeder type component supply device 24 and the printed wiring board 14 and between the tray type component supply device 26 and the printed wiring board 14 respectively.
• the imaging device 180 is immovably mounted. The configuration of these imaging devices 180 is the same, and includes a component camera 182 for capturing an image of the circuit component 20 and a light guide device 184, as typically shown in FIG. .
• the component camera 1822 is a CCD camera and a surface imaging device.
• An illumination device 186 is provided below the moving path of the mounting head 60 for the X-axis slide 66, and a component imaging system including the imaging device 180 and the illumination device 186 is provided. Thereby, a front image and a projected image of the circuit component 20 are selectively captured.
• the component imaging system is provided in the middle of the movement path of the mounting head 60 in the Y-axis direction, and is imaged while being moved from the component supply devices 24 and 26 to the printed wiring board 14.
• the tray-type component supply device 26 supports the tray 50 and forms a tray pallet (hereinafter referred to as a “nolet”) that configures a component container. 200), a rack 202 for storing pallets 200, a rack elevating device 204 (see Fig. 10), a conveyor 206 as a component container moving device, and a component housing
• a pallet guide device 208 (see Fig. 13) as a container guide device, is mounted on a trolley 210 (see Fig. 5), is mounted on a base 12, and supplies circuit components 20.
• the rack 202 and the rack elevating device 204 constitute a pallet storage portion or a component storage portion as a component container storage portion, and the transport conveyor 206 and the pallet guide device 208 are pallet shuttle portions. Or a pallet shuttle system.
• the tray 50 is made by projecting a flat plate material, leaving its periphery, and protruding the central portion in a direction perpendicular to the plate surface. It has a shape with recesses 214.
• the protruding end surface of the protrusion 2 12 has a flat shape, and a plurality of housing recesses 2 16 serving as component housing portions that are open to the protruding end surface are provided in a single plane.
• Each circuit component 20 is positioned and taken out one by one It is housed as possible.
• the component housing plane in which the housing recesses 2 16 are arranged has a single plane perpendicular to the axis of the tray 50.
• One tray 50 accommodates one type of circuit component 20.
• the outer peripheral surface 2 18 of the projection 2 1 2 and the inner peripheral surface 2 20 of the concave portion 2 14 have the same tapered shape, and the concave portion 2 14 of the tray 50 is By fitting the parts 212, the plurality of trays 50 can be positioned in a direction parallel to the component housing plane, and stacked one on top of the other in a state in which they cannot be relatively moved and cannot be rotated.
• the knurl 200 will be described.
• the pallet 200 supports the tray 50, and receives the circuit components 20 via the tray 50.
• the pallet main body 230 of the knurl 200 has a rectangular shape in plan view and a thin plate shape, as shown in FIGS.
• Each is provided with rails 232 and constitutes a supported portion or a guided portion.
• Each of both ends in the longitudinal direction of each of the rails 232 has a guide portion 234 provided so that its width becomes narrower toward its tip.
• inclined surfaces are provided at both ends in the longitudinal direction of the lower surface of the two rails 2 32 so as to be inclined upward toward the end. Make up. Furthermore, as shown in FIG.
• the two rails 2 32 each have side surfaces 2 3 parallel to the longitudinal direction of the rails 2 3 2 and perpendicular to the component receiving plane, as shown in FIG. 8 and engagement recesses 2 4 2 and 2 4 4 are provided as engaged portions that open on the upper surface.
• the side surfaces of these engagement concave portions 242 and 244 that are perpendicular to the longitudinal direction of the rail 232 and are close to each other constitute the engagement surfaces 246 and 248.
• the pallet body 230 is made of, for example, a steel art panel (trade name) manufactured by Sekisui Jushi Plastics Co., Ltd. As shown schematically in FIG. 50 and a magnetic material layer 25 2, 25 4 sandwiching the vibration absorbing layer 250 from both sides.
• the vibration absorbing layer 250 is made of a foamed resin that is a kind of vibration absorbing material, for example, polyethylene, and the magnetic material layers 255 and 254 are made of a magnetic material that is a kind of metal material.
• the magnetic material layers 25 2 and 25 4 are metal material layers, and the surfaces thereof are coated with paints 256 and 258, respectively.
• the pallet body 230 is made of a material that is light, thin, and highly rigid, while having magnetism and vibration absorption capability. It is not essential to paint.
• the pallet main body 230 has two sides each having the pair of rails 232 and one of the two sides perpendicular to the longitudinal direction of the rail 232, respectively.
• a positioning surface 262 which rises at right angles from the upper surface of 230 or the support surface 260 supporting the tray 50 is provided.
• the direction parallel to the longitudinal direction of the rail 2 32 of the pallet body 230 is the forward / backward direction or the pallet conveyance direction as the pallet 200 conveyance direction by the conveyance conveyor 206 and the component container movement direction.
• the side on which the positioning surface 262 is provided, of the two sides perpendicular to the rail 2332, is a front portion, and is a direction in which a pair of rails 2332 are separated from each other.
• the direction perpendicular to the pallet transport direction is defined as the left-right direction or the width direction.
• a grip portion 264 that rises at a right angle from the support surface 260 of the pallet body 230 is provided.
• the grip portion 264 is long in the left-right direction, functions as a handle, and serves to reinforce the pallet body 230.
• a handle 266 is provided so as to protrude forward so as to form a held portion. ing.
• a pair of grip portions 268 are provided in parallel with the left and right directions of the pallet 200. In the present embodiment, these grip portions 268 are concentrically provided with a circular cross section.
• At least one tray 500 is supported by a pallet 200.
• the tray 50 may be supported at one location in the pallet 200 or may be supported at multiple locations, for example, two locations, depending on its size. Further, a plurality of trays 50 may be stacked and stacked on each other. In any case, the tray 50 is placed and supported on the support surface 260, and is restrained immovably in a direction parallel to the component receiving plane by the restraining device 270 in the pallet 200. You.
• the restraining device 270 includes a plurality of types of restraining members 272 and 274 as shown in FIG.
• These restraining members 2 7 2, 2 7 4 are each made of non-magnetic material Casings 275 and 277 as permanent magnet holders, and permanent magnets 276 and 278 that are housed in the casings 275 and 277 to form a permanent magnet portion, It can be placed and fixed at any position on the support surface 260 of the magnetic material pallet body 230.
• At least two of the four side surfaces of the tray 50 are positioned by being brought into contact with the positioning surface 262, and are not brought into contact with the positioning surface 262 of the tray 50.
• At least one of the restraining members 27 2 and 27 4 is brought into contact with the two side surfaces, and is placed on the support surface 260 to restrict the movement of the tray 50 and restrain it.
• the plurality of trays 50 are provided so as to be stacked one on another in a direction parallel to the component storage plane, and the restraining members 27 2 and 27 4 are stacked on each other.
• the tray 50 is accommodated in the pallet 200 and supported, thereby functioning as a component accommodating portion of the accommodating recess 2 16 of the tray 50 and a part of the tray 50.
• the component receiving plane on the plane constitutes the component receiving plane of the knowledge 200. This component receiving plane is parallel to the support surface 260.
• the rack 202 has a vertical cross-sectional shape perpendicular to the pallet storage direction in the shape of a mouth, and is formed by a transfer conveyor 206 of the pallet 202. It has two openings that open in both the forward and reverse directions in the transport direction. A plurality of pallets 202 are stored so as to cover all of them. Can be attached and detached only at.
• the rack body 280 of the rack 202 has a plurality of pairs of rails 282 as a pair of pallet support members, which are arranged at equal intervals in the rack elevating direction. It is provided in a state and constitutes a component container holder.
• the plurality of pairs of rails 282 are provided integrally with the rail forming member 283 constituting the rack main body 280, whereby the rack 202 has a plurality of rails 282.
• Shelf 2 8 4 are provided at equal intervals in the vertical direction, and pallets 200 can be stored in multiple stages, a plurality of types of circuit components 20 can be stored, and a large number of circuit components 20 can be stored. be able to.
• the rack 202 of the tray-type component supply device 26 supported by the cart 210 is provided vertically, and the rail 282 is horizontally extended in a state of extending parallel to the pallet transport direction or the front and rear directions. Is provided.
• the let 200 is mounted on the pair of rails 282 on the pair of rails 232 and is supported by the rails 282 in a horizontal posture, the component receiving plane is a horizontal plane, and the rail 282 is provided. 2 is held so as to be movable in a direction parallel to the longitudinal direction and in a horizontal direction parallel to the component housing plane.
• the upper surface of the rail 282 constitutes a supporting surface 286 as a holding surface for supporting and holding the pallet 200 from below, and the front end of the rail 282 of the supporting surface 286, That is, at the end portion on the side adjacent to the transport roller 206, as shown in FIG. 8, an inclined surface that is inclined downward toward the front is provided, forming a guide surface 288.
• the support surface 286 is a horizontal surface in the present embodiment.
• the pallet 200 has a very small distance between the pair of rails 232 and the rail forming member 283 that allows the pallet 200 to move in the front-rear direction. It is stored with a slight gap left.
• a front end protruding forward from the rail forming member 283 of the rack 202 and the side wall 328 of the rack body 280 of the rail 282 is provided.
• a notch 292 is provided. The notch 292 is provided to penetrate a plurality of pairs of rails 282 and a rail forming member 283 provided with the rails 282 in the left-right direction.
• the rack 202 is moved up and down by the rack elevating device 204.
• the rack elevating device 204 includes a rack elevating motor 300 as a driving source attached to a frame 300 constituting an apparatus body of the tray-type component supply device 26, and a frame. 300 includes a pair of screw shafts 304 provided rotatably about a vertical axis and a pair of nuts 360 fixed to the rack 202.
• the rack elevating motor 302 When the screw shaft 304 is rotated by the rack elevating motor 302, the rack 202 is guided by a guide device including a pair of guide rails 300 (see FIG. 11) as guide members.
• Rack 202 is a horizontal part
• the pallet 200 is raised and lowered in a direction perpendicular to the housing plane, and the plurality of pallets 200 supported by the rails 282 are sequentially positioned at the component supply position.
• An ideal component supply position is determined by a support surface of the conveyor 206 that supports a pallet 200 of a conveyor belt described later. No ,.
• the support surface 286 of the rail 282 supporting the ret 200 is exactly in the same plane as the support surface of the conveyor belt, and in this embodiment, the position located in the same horizontal plane is the ideal position of the palette 200.
• a horizontal plane including the conveyor belt support surface is the pallet 200 transfer surface.
• the vertical position of the support surface of the conveyor belt of the conveyor 206 is set to a predetermined height by design, but it is caused by a manufacturing error or an assembly error of the components of the conveyor 206. Due to errors in the height direction, it is not always located at the design position, and the ideal component supply position is not always at the design position.
• the rack elevating device 204 there is usually an error in the height direction due to a manufacturing error or an assembly error of the component parts, and there may be an error in the pitch of the plurality of pairs of rails 282. Therefore, even if the ideal component supply position is located at the design position, the pallet 200 is not necessarily positioned at the ideal component supply position by moving the rack 202 up and down. Therefore, the transfer sensor 3 1 2 is arranged so that these various errors are canceled as much as possible and the pallet 202 is positioned at the ideal component supply position in the tray-type component supply device 26 with as high accuracy as possible. Provided.
• the transfer sensor 3 12 is designed to be located away from the component supply position in the rack elevating direction, and in the present embodiment, as shown in FIG. 20 (b), above the component supply position. Is provided.
• the transfer sensor 3 1 2 is installed as close as possible to the position set in the design as much as possible, and the distance in the vertical direction with respect to the support surface of the conveyor belt of the transport conveyor 206 is measured by a measuring device, and the ideal component supply position The exact position for has been obtained.
• the actual distance L 1 (see FIG. 20) of the transfer sensor 3 12 to the ideal component supply position (the support surface of the conveyor belt of the transport conveyor 206). (See (c)).
• the transfer sensor 312 is constituted by a transmissive photoelectric sensor which is a type of photoelectric sensor.
• the light emitter and the light receiver have their optical axes parallel to the left and right directions of the rack 202. It is provided at a position where light passes through the notch 292 provided in the rack 202. Therefore, if the rack 202 is moved up and down, the light emitted from the emitter is received by the receiver through the notch 292 or blocked by the rack 202, and based on the light reception and the light blocking, Multiple pairs of rails 2 82 are detected sequentially.
• the portion of the rail 282 where the notch 292 is provided constitutes the detected part.
• the lower surface of the end of the rail 230 of the pallet 200 is inclined so as to form the guide surface 236, and the pallet 200 is stored in the rack 202. Then, as shown in FIG. 20 (b), the distal end of the rail 2332 comes off the notch 292. Therefore, even if the rail 282 is detected by the transfer sensor 312 while the pallet 200 is stored in the rack 202, the pallet 200 prevents transmission of the light emitted from the projector. None.
• a notch or an inclined portion provided at the tip of the rail 232 constitutes a component container holding portion detection permitting portion. The elevation control of the rail 282 based on the detection by the transfer sensor 312 will be described later.
• the rack 202 is provided with a pallet gripping device 320 as a component container gripping device.
• the pallet gripping device 320 is provided at a portion of the rack body 280 corresponding to each pair of the plurality of pairs of rails 282, respectively.
• the rack 200 is fixed to the rack 202 by gripping the ledge 200. No ,. It can be considered that a pair of rail grippers 320 are provided for each rail 282, and a pair of palette grippers 320 are provided for one shelf 284. .
• each of the plurality of pallet gripping devices 320 is provided with a rack body 280.
• the first gripping claw 3 222 is located on the front side of the rack body 280 (on the side adjacent to the transport conveyor 206).
• the second gripping claws 324 are provided on the rear side.
• One of the two first gripping claws 3 2 2 and the second gripping claw 3 2 4 is provided on one side of a pair of rails 282, and the other is provided on the other rail 282 side.
• the two first gripping claws 3222 of the pallet gripping device 320 are provided in a plane parallel to the component housing plane and separated in the left-right direction that is a direction orthogonal to the pallet transport direction. The same applies to the two second gripping claws 3 2 4.
• the first gripping claws 3 2 2 provided on the same rail 28 2 side are the same. Each of them is detachably fixed to a common claw holder 3 26, and is provided in an opening 3 30 provided in a side wall 3 28 of the rack body 2 80 and a rail forming member 2 83 respectively.
• the rack body 280 can enter the rack body 280 through the opening 33 1.
• the openings 330 and 331 are provided corresponding to each of the plurality of pairs of rails 282.
• the front end of the rail forming member 283 (the end on the side of the conveyor 206) is projected forward from the front end of the side wall 328. As shown in Fig.
• the claw holder 3 26 has a longitudinal shape, and each of the two vertically spaced shafts 3 32 (Fig. 12 shows one shaft 3 32 ) Is attached to the rack body 280 so as to be rotatable around the vertical axis.
• the distal end of the first gripping claw 3 2 2 has a cylindrical gripping surface 3 having a center line parallel to the rotation axis of the first gripping claw 3 2 2 (the axis of the axis 3 32). 3 4 are provided.
• the claw holder 326 has a piston lock of an air cylinder 340 provided in the rack body 280 at a middle portion in the vertical direction so as to extend in the front-rear direction. It is connected to the tip of the door 342.
• the connecting shaft 344 provided on the claw holder 326 in the upward and downward directions is opposed to the long hole 346 provided at the tip of the biston rod 342 in the longitudinal direction of the long hole 346. They are movably fitted.
• the air cylinder 360 is a type of fluid pressure actuator that is a type of fluid pressure actuator, and constitutes a driving source.
• the expansion and contraction of the piston rod 34 rotates the claw holder 3 26 around the vertical axis.
• the plurality of first gripping claws 3 2 2 are simultaneously rotated about a vertical axis.
• the extended end of the piston rod 3 4 2 is connected to the stopper 3 provided on the rack Specified by 50.
• the first gripping claw 32 2 is rotated to a gripping position for gripping the pallet 200, and on the gripping surface 33 4, the knurl 20 No. 2 engages with the engaging surface 2 46 of the engaging concave portion 2 42 provided on the rail 2 32 and grips the pallet 200 in cooperation with the second gripping claw 3 2 4.
• the knurl 200 is fixed both to the pallet body 280 and to the rail 282.
• the engaging position or the holding position of the first holding claw 3 222 is defined by the stopper 350.
• the first gripping claw 32 2 When the piston rod 3 42 is contracted, the first gripping claw 32 2 is rotated to the release position as shown by the two-dot chain line in FIG.
• the pallet 322 is released by being pulled out of the 422, and the fixing of the pallet 322 to the rack body 280 is released.
• the contracted end of the piston rod 342 is defined, for example, by the stroke end of the piston.
• the claw holder 3 26 and the air cylinder 340 constitute a first holding claw rotating device 3 52 as a first holding member driving device, and the first holding claw rotating device 3 Reference numeral 52 is provided in common for each of the first gripping claws 32 of the plurality of palette gripping devices 320.
• a stopper is provided on the side on which the stopper 350 rotates to the gripping position of the first gripping claw 322, and the rotation limit defining device for defining the rotation limit in the direction of gripping the palette 200 is constituted. .
• the second gripping nail 3 2 4 provided on the same rail 28 2 side is also the same as the first gripping nail 3 2 2
• the rack body 280 can enter the rack body 280 through the opened opening 365.
• the openings 36 2 and 36 3 are provided corresponding to each of the plurality of pairs of rails 28 2.
• the claw holder 360 is attached to the rack body 280 at two positions vertically separated from each other by a shaft 364 (see FIG.
• the claw holder 360 is rotated by the expansion and contraction of the piston rod 368, and the plurality of second gripping claws 324 are simultaneously formed, and the first gripping claws 322 are mutually moved. Independently rotated.
• the claw holder 360 and the air cylinder 36 6 constitute a second gripping claw rotating device 374 as a second gripping member driving device, and the second gripping claw driving device 37 4 is provided in common for each of the second gripping claws 3 24 of the plurality of pallet gripping devices 320.
• the second gripping claw 3 2 4 includes a gripping claw main body 3776 and a leaf spring 3778 held by the gripping claw body 3776.
• the leaf spring 378 is a kind of spring as an elastic member, and can be detachably attached to the gripping claw body 376 at a base end 380 thereof, and the leaf surface of the leaf spring 378 is vertical.
• the distal end portion fixed in the posture and extended from the gripping claw body 3776 functions as an engaging portion 3882, and a portion between the engaging portion 3882 and the base end portion 3880 is provided. It functions as the elastically deformable part 3 84.
• the engaging portion 382 is a distal end portion which is an end portion of the elastically deforming portion 384 opposite to the base end portion 360 side, and a release position of the second gripping claw 3 24. It is provided so as to be bent in a direction opposite to the direction of rotation when heading toward the gripping position from.
• the second gripping claw 3 2 4 has an engagement recess 3 2 provided on the rail 2 32 of the pallet 200 as shown by a solid line in FIG. Engage with the 4 4 engagement surface 2 4 8.
• the pallet 200 is released by rotating the first and second gripping claws 32 2 and 3 24 to the release position, and the pallet 200 is not hindered from moving. 200 can be moved in the transport direction and can be moved in and out of the rack 202.
• the driving force for the air cylinder 366 to grip the pallet 200 with the second gripping claw 3 2 4 is smaller than the driving force for the air cylinder 365 to grip the pallet 200 with the first gripping claw 32 2.
• the storage position of the pallet 20 ° in the front-rear direction when gripped by the pallet gripping device 320 is defined by the stopper 350. This is defined by the first gripping claw 3 222 rotated to the gripping position. If the palette 200 is located on the front side of the storage position defined by the first gripping claws 32, the first gripping claws 32 are turned to the gripping position. At this time, the pallet 200 is engaged with the engagement surface 246, and the pallet 200 is retracted to the storage position.
• the second gripping claw 3 2 4 is rotated by the air cylinder 3 6 6 so that the engaging portion 3 8 2 is brought into contact with the engaging surface 2 4 8 of the engaging recess 2 4 4 of the pallet 200.
• the second gripping pawls 324 are rotated until a predetermined driving force set in the air cylinder 366 is obtained.
• the elastically deforming portion 384 elastically deforms after the engaging portion 382 contacts the engaging surface 248, and engages the engaging portion 382 based on the restoring force of the elastic deformation.
• Continue engaging surface 248. Variations in the dimensions of the pallet 200 and the like are absorbed by the elastic deformation of the elastic deformation portion 384.
• the second gripping claw 3 2 4 is elastically engaged with the engaging surface 2 48, and cooperates with the first gripping claw 3 22 provided on the same rail 28 2 side as the pallet 20. This ensures that the pallet 200 does not move in the front-rear direction, and that the first and second gripping claws 3 2 2, 3 2 4 and the engaging surfaces 2 4 4, 2 4 8 The frictional force generated between and prevents the pallet 200 from moving in the vertical direction (the direction perpendicular to the component storage plane) and in the horizontal direction, and suppresses the vibration of the pallet 200 when the rack moves up and down.
• the palette 200 can be moved in the left-right direction by engaging the first and second gripping claws 32 2 and 32 4 at four places separated from each other in a plane parallel to the component housing plane.
• the two parts separated from each other are gripped by the first gripping claws 32 2 and the second gripping claws 3 24, respectively, and are firmly fixed to the rack 202, and the vibration is favorably suppressed.
• the gripping surface 336 of the first gripping claw 3222 is formed in a partially cylindrical shape, the displacement of the portion engaging with the gripping surface 3336 of the pallet 200 in the left-right direction is small. I'm done.
• the transfer conveyor 206 will be described.
• the transfer conveyor 206 is provided so as to protrude forward from the carriage 210 and the frame 300.
• the transport conveyor 206 is a belt conveyor, and includes a pair of conveyor belts 404 and 406 as endless transport members, a circulating drive device 408, and a holder 41. Contains 0.
• the conveyor belts 4 0 4 and 4 0 6 are made of rubber, and Is a timing belt having a large number of teeth 4 12 (see FIG. 14 (b)) on the outer peripheral surface.
• the orbiting drive device 4 08 includes a pair of support members 4 16 extending forward from the carriage 210 and the frame 300. , 4 18. These support members 4 16 and 4 18 are formed in a plate shape and are provided at a distance in a direction perpendicular to the pallet transport direction in a plane parallel to the component receiving plane, and are provided on the vertical side surfaces facing each other. In the pallet transport direction, a plurality of guide pulleys 420 around which the conveyor belts 404 and 406 are wound, and a plurality of timing pulleys 422 meshing with the teeth 412 of the conveyor belt 404, respectively. It is mounted rotatably about a horizontal horizontal axis.
• the conveyor belts 404 and 406 are wound around the guide pulley 420 on a flat inner peripheral surface, the timing pulley 422 is wound around the outer peripheral surface, and the teeth 41 are provided. 2 is meshed with the teeth of the timing pulley 4 2 2.
• one of the guide pulleys 420 is a tension pulley, and supports the conveyor belts 404 and 406 from the outer peripheral surface side.
• a plurality of guide pulleys 420 and timing pulleys 42 2 establish a circulating path for the conveyors 404, 406, and the conveyor belts 404, 406 include racks 202 from the wiring board conveyor.
• a horizontal transfer section or support section 4 24 extending to 16 is provided, and the upper surface thereof constitutes a pallet transfer face or support face 4 26.
• the support surface 4 26 is constituted by a set of upper surfaces of a plurality of teeth 4 12 included in the support portion 4 24.
• the conveyor belts 404 and 406 are provided at positions corresponding to the pair of rails 282 in the left-right direction of the transfer conveyor 206 (direction perpendicular to the pallet transfer direction in the horizontal plane). ing.
• the transfer conveyor 206 is provided adjacent to the rack 202, and the circulating path of the conveyor belts 404, 406 includes an end portion of the support portion 424 adjacent to the rack 202, and a rail. The distance between them is short so that they are located close to each other.
• the support members 4 16 and 4 18 also have a plurality of guide pulleys 4 28 rotating around the axis parallel to the guide pulleys 4 20 etc. at portions corresponding to the orbital path of the support portion 4 24 respectively. As possible and arranged side by side in the pallet transport direction. The flat inner peripheral surface is supported.
• the plurality of guide pulleys 428 constitute a belt support member.
• Each of the guide pulleys 420, 428, and the timing pulley 422 has a restricting portion extending from each end separated in a direction parallel to the rotation axis in a direction perpendicular to the rotation axis.
• the conveyor belts 404 and 406 are sandwiched from both sides in the width direction so as to restrict displacement in the width direction.
• One of the plurality of timing pulleys 4 2 2 attached to the support member 4 16 is rotated by the rotary driving device 4 32 so that a pair of conveyors 4 0 4 and 4 6 are simultaneously in the same direction. Then, it is made to orbit along a predetermined orbit.
• the rotary drive device 432 uses a belt drive motor 434 provided on the support member 433 held by the support members 416 and 418 as a drive source.
• the rotation is transmitted to a timing pulley 422 that drives a conveyor belt 404 by a rotation transmission device including timing pulleys 436, 438 and a timing belt 439, and the rotation is transmitted by a rotation shaft 4440. It is transmitted to a timing pulley 422 for driving the conveyor belts 406, and the conveyor belts 404, 406 are rotated in synchronization.
• the holder 4 10 will be described.
• the retainer 410 is attached to a moving member 444 held in a fixed position by a pair of conveyors 404, 406. It is provided.
• the moving member 446 has a longitudinal shape, and its both ends in the longitudinal direction are detachably fixed to the conveyor belts 404 and 406, respectively, to the portions constituting the support portion 424. Have been. Therefore, if the conveyor belts 404, 406 are rotated, the moving member 446 is moved integrally with the conveyor belts 404, 406, and is provided on the moving member 446.
• the holder 410 is moved at the same speed as the conveyor belts 404, 406.
• the guide pulley 428 supporting the support portions 424 of the conveyor belts 4 ⁇ 4, 406 is provided with a connecting portion between the conveyor belts 404, 406 and the moving member 444.
• a grooved pulley having an annular groove formed in the outer peripheral surface is formed at the center in a direction parallel to the rotation axis.
• the movement of the moving member 446 is guided by the guiding device 448 shown in FIG. You.
• the guide devices 448 are provided on a pair of guide rollers 450, which are rotatably attached to both ends of the moving member 446 in the longitudinal direction, respectively, and on a pair of support members 416, 418. Guide rails 45 2.
• the pair of guide rollers 450 move across the guide rails 452 and guide the movement of the moving member 446.
• the holding member 410 is provided at a central portion in the longitudinal direction of the moving member 446 so that the handle 266 provided on the pallet 200 is held. Have been.
• the holder 410 has a pair of chucks 458 as shown in FIG. 15 (a).
• These chucks 458 are provided at a distance in the left-right direction of the conveyor 206, and have a pair of gripping claws 460, 462, respectively, as shown in FIG. .
• These gripping claws 460 and 462 can be opened and closed in a direction parallel to the pallet carrying direction on the chuck body 646, and are provided so that they can approach and separate from each other.
• positioning recesses 466, 468 as positioning portions extending in the left-right direction of the transport conveyor 206 are provided on the surfaces facing each other.
• the chuck body 4 6 has a plunger 4 as a driven member or an input member.
• the plunger 470 is a compression coil as an elastic member which is a kind of urging means disposed between a lower end protruding from the chuck body 464 and the chuck body 464. It is urged downward by a spring 4 72.
• a chuck driving device 474 is provided at a rear portion of the transfer conveyor 206, that is, at a portion adjacent to the rack 202.
• a chuck driving device 474 is fixedly provided at the center in the longitudinal direction of the support member 433, and the chuck driving device 474 is provided as shown in FIG.
• the air cylinder 4778 is driven.
• the air cylinder 478 is provided upward, and the drive member 4 As a result, the pair of driving portions 4 8 4 push up the respective plungers 4 70 of the pair of chucks 4 8 8 against the urging force of the spring 4 7 2. Release 0 and allow it to descend by the bias of the spring 4 7 2.
• the plunger 470 is located at the lower end position by the urging of the spring 472 when the driving member 482 is lowered and is separated from the plunger 470, and FIG. As shown in (c), unless the handle 266 is gripped, the gripping claws 460 and 462 are located at the most closed positions. When gripping the handle 266, the gripping claws 460, 462 are held in a state of gripping the handle 266 based on the bias of the spring 472. When the driving member 482 is raised by the air cylinder 478 and the plunger 470 is raised against the urging force of the spring 472, the gripping claw is obtained as shown in FIG. 16 (e). 460, 462 is opened and moved to the release position.
• the distance between the gripping claws 4 6 0 and 4 6 2 in the most opened state is larger than the outer diameter of the grip 2 6 8 of the handle 2 6 6 of the knob 2 0 0, and the grip 2 6 8
• the claws can enter and retreat without interfering with the claws 460 and 462.
• the holding tool 410 configured as described above holds the handle 26 of the pallet 200 by a pair of chucks 458, as will be described later, and the moving member 446 is transported.
• the pallet 200 is moved by being moved by the conveyor 206, and the movement of the pallet 200 is guided by the pallet guide device (hereinafter abbreviated as a guide device) 208.
• the guide device 208 includes a fixed rail 490 as a fixed guide member and a movable rail 492 as a movable guide member.
• the fixed rail 490 has a plate shape, and is fixed to the upper surface of the support member 418 in parallel to the pallet transport direction, as shown in FIG.
• the fixed rail 490 is provided such that its guide surface or regulating surface is located in the same vertical plane as the surface on which the rail 282 of the rail forming member 283 is provided.
• the movable rail 492 has a plate-like shape as shown in Fig. 17 or Fig. 19, and a pallet transport direction is provided by a rail holding member 494 which is detachably fixed on the upper surface of the support member 416. It can be moved in the horizontal direction perpendicular to, and is held so that it can approach and separate from the fixed rail 490.
• the rail holding member 494 has a long plate shape and is fixed in parallel to the pallet transport direction.
• the movable rail 492 is arranged in parallel to the pallet transport direction, and the rail holding member Lifting is prevented by a holding member or a rising member 496 standing upright at 494.
• the lifting prevention member 496 is fitted into the elongated hole 500 provided in the movable rail 492 at the shaft portion 498, and the port 5 as a fixing device is provided.
• the movable rail 492 is prevented from rising from the rail holding member 494 by a head 504 having a diameter larger than that of the shaft portion 498.
• the movable rail 492 is attached in a direction approaching the fixed rail 490 by a plurality of compression coil springs 510 serving as an elastic member which is a kind of a biasing device disposed in the rail holding member 494. It is being rushed.
• the movement limit of the movable rail 492 by the bias of the spring 510 is regulated by engaging the longitudinal end face of the elongated hole 509 with the shaft portion 498 of the lifting prevention member 496. Is done.
• the lifting prevention member 496 also constitutes a movable rail movement restricting device.
• the fixed rail 490 and the movable rail 492 are a kind of synthetic resin as a flexible material, and have a lower friction coefficient than metal and a low friction material as a low friction material. It is made of polyacetal, a type of resin.
• the fixed rail 490 is fixed straight to the support member 418 in parallel to the pallet conveyance direction, but the movable rail 492 can approach and separate from the fixed rail 490, and its length It can bend in a direction that intersects the direction and intersects the pallet transport direction in a horizontal plane parallel to the pallet transport surface.
• the electronic circuit component mounting machine 10 includes a control device 530 shown in FIG.
• the control device 530 is mainly composed of a computer 540 having a CPU 532, a ROM 534, a RAM 536 and a bus 538 for connecting them.
• An input / output interface 542 is further connected to the bus 538, and is connected to an X-axis slide drive motor 70 and a Y-axis slide drive motor 86 via a drive circuit 544.
• a head elevating motor 120, a head rotating motor 130, a rack elevating motor 302 and the like are connected.
• the reference mark camera 152 and the component camera 182 are connected to the control device 5330 via an image processing computer 546.
• an input device 548 such as a keyboard and various sensors such as a tray height confirmation sensor 550 and a transfer sensor 312 are connected to the device 530.
• the tray height confirmation sensor 550 will be described later.
• the X-axis slide drive motor 70 or the like as a drive source is constituted by a servomotor, and its accumulated rotation angle (rotational position) is detected by an encoder and input to the combi- ter 540.
• FIG. 21 representatively shows an encoder 556 provided in the head rotation motor 130.
• the servomotor is an electric motor capable of controlling the rotation angle with high accuracy, and is provided with an encoder in the present embodiment.
• the X-axis slide drive motor 70 and the like using these servomotors as drive sources can be moved with high accuracy.
• a step motor may be used instead of the servo motor.
• the ROM 534 or RAM 536 has a main chin, an electronic circuit component mounting program, and a program for supplying the circuit component 20 to the tray-type component supply device 26.
• the printed wiring board 14 is carried in by a carry-in device (not shown) and is conveyed to a mounting position where the circuit component 20 is mounted by the wiring board conveyor 16, the printed wiring board 14 is positioned by the wiring board holding device 18 and the mounting surface 2 8 Is held in a horizontal position.
• the reference mark camera 15 2 together with the component mounting unit 108 by the moving device 96 is positioned at the reference mark imaging position where the reference mark 150 provided on the printed wiring board 14 is imaged. Are captured respectively.
• the mounting head 60 is moved to the component removal position of the feeder type component supply device 24 or the tray type component supply device 26 by moving the X axis slide 66 and the ⁇ ⁇ ⁇ ⁇ axis slide 82. .
• the mounting head 60 is lifted by the head lifting device 104.
• the circuit component 20 is held by the negative pressure being supplied to the suction nozzles 114.
• the mounting head 6 holding the circuit component 20 is printed, for example, from the component receiving position for receiving the circuit component 20 from the pallet 200 moved to the component removal allowable position of the tray-type component supply device 26.
• the component is moved to the component mounting position where the circuit component 20 is mounted on the wiring board 14.
• the component imaging provided at a position between the component receiving position and the component mounting position of the X-axis slide 66 is performed.
• the circuit component 20 is imaged by the system. If the rotational position of the circuit component 20 is different between the suction position and the mounting position, after mounting, the mounting head 60 rotates the head rotating device 10 before reaching the component holding position detection position. 6, the circuit component 20 is rotated to change the rotation position to the mounting position, and when the mounting head 60 reaches the component holding position detection position, the circuit component 20 is imaged.
• the image data obtained by the imaging is processed by the image processing computer 546 and compared with the normal image data without the holding position error, and the center position error (horizontal position error) ⁇ ⁇ ⁇ , ⁇ ⁇ ⁇ and The rotational position error ⁇ is calculated.
• the center position error X ,, ⁇ ⁇ ⁇ of the component mounting portion of the printed wiring board 14 is changed to the reference mark 150 provided on the printed wiring board 14 in advance by the reference mark camera 15 2.
• Circuit component generated by correcting these errors ⁇ ⁇ , ⁇ ⁇ , ⁇ , ⁇ , ⁇ ⁇ and the rotational position error ⁇ before moving to the component mounting position The moving position of the mounting head 60 is corrected based on the displacement of the center position of 20 and the mounting head 60 is rotated by the head rotating device 106 to correct the rotational position error ⁇ . Is done.
• the mounting head 60 is moved to the component mounting location on the printed wiring board 14 and lowered in parallel with the error calculation, etc., and the circuit component 20 is correctly rotated to the correct component mounting location. Attach with This completes one cycle of mounting work.
• the rack 202 is raised and lowered by the rack elevating device 204, and the plurality of pallets 200 stored in the rack 202 are sequentially and vertically supplied with the component supply position.
• the stopping position of the rack elevating device 204 for positioning the knurl 200 at the component supply position is set for each of the plurality of pairs of rails 282 provided on the rack 202. That is, a plurality of positions at which the rack elevating device 204 should be stopped among the continuous operating positions of the rack elevating device 204 are acquired.
• the stop position of the rack elevating device 204 is acquired prior to the start of the work of mounting the circuit components 20 on the series of printed wiring boards 14, and the RAM 5 It is stored in 36.
• the acquisition of the stop position will be described.
• the rack 202 is moved up from, for example, the lower end position by the rack elevating device 204. If the part of the rack 202 where the notch 292 is not provided passes between the transmitter and receiver of the transfer sensor 321, the light emitted by the transmitter is blocked and the amount of received light is The passage of the portion where the notch 292 of the rack 202 is not provided is detected.
• the light receiver When the notch 292 is transferred and reaches the sensor 312, the light receiver receives light, and since the amount of received light exceeds the set amount, the passage of the notch 292 is detected. If the portion exceeding the set amount of the notch 292 deviates from the transfer sensor 312, the amount of light received by the receiver reaches the threshold value, and then further decreases. As described above, the notch 292 is provided for each of the multiple pairs of rails 282, and when the amount of light received by the receiver falls below the threshold, the output signal of the transfer sensor 313 is turned on. Changes from OFF to OFF.
• the rail 282 is at the transfer sensor position where the transfer sensor 312 is provided and has reached the rail detection position as the component container holding unit detection position.
• the value of the encoder that detects the cumulative rotation angle (rotation position) of the rack elevating motor 302 at that time is the position of the rail 282 when the transfer sensor position is reached, and the rack elevating device 2 Obtained as the working position of 04.
• the obtained operating position of the rack elevating device 204 is data that specifies the installation position of the rack 282 in the rack 202 that has reached the above-mentioned transfer sensor position, for example, the rack 202
• a rack elevating device operating position provided in the RAM 536 of the computer 540 in association with a number which is a type of shelf identification information or storage position identification information attached to each of the plurality of shelves 284.
• the rack elevator operating position memory is located in the The data remains even if the power is turned off.
• the operating position of the rack elevating device 204 is acquired for all of the pairs of rails 282. When the rail 282 is detected, the rack 202 is moved at a speed suitable for the detection and at a low speed, and the arrival at the detection position of the rail 282 is accurately detected by the transfer sensor 312. Will be detected at
• the transfer sensor 312 is provided above the ideal component supply position, and the rail 282 detected by the transfer sensor 312 is shown in FIG. As shown in the figure, it is located above the ideal parts supply position. As described above, the vertical distance L1 with respect to the ideal component supply position of the transfer sensor 312 has been acquired.
• the notch 292 includes the support surface 2886 of the rail 282 in the vertical direction of the rack 202, and the support surface 28 6 is located so as to be located on the upper and lower sides of the rail, so that the portion exceeding the set amount of the notch 2 92 comes off the transfer sensor 3 1 2, and when the rail 2 8 2 is detected, the detected rail As shown in FIG.
• the support surface 286 of the 282 is located above the transfer sensor position.
• the vertical distance of the support surface 286 to the transfer sensor position that is, the distance L 2 between the support surface 286 and the lower surface of the notch 292 is obtained by design. Same for rails 282.
• the distance L2 is short and has no error. Therefore, when the rail 282 is detected by the transfer sensor 312, the support surface 286 is located at a distance equal to the sum of the distances L1 and L2 and above the ideal component supply position. Based on the operating position and the distance L1 and the distance L2 acquired for the rack elevating device 204, the pallet 200 supported by the rail 282 is set to the ideal component supply position.
• the stop position of the rack elevating device 204 for stopping the operation at the same time is determined.
• the set height is a distance L1 and a distance L2 upward from the ideal component supply position, and the set height is different from the arrangement height of the transfer sensor 312. I have. Further, the set height is also different from the height of the support surface 426 of the conveyor belts 404, 406.
• the stop position of the rack elevating device 204 is defined by the count value of the encoder that detects the cumulative rotation angle of the rack elevating motor 302, and the transfer position is determined for each of the plurality of pairs of rails 282. Is determined each time the position of the rail 312 is detected, and is stored in the memory in association with the number of the rail 282.
• This memory may be a rack elevating device operating position memory or a memory provided separately therefrom.
• the memory for storing the stop position of the rack elevating device 204 constitutes the rack elevating device stop position memory.
• the stop position may be determined when the pallet 200 is positioned at the component supply position.
• the pallet 200 for supplying the circuit components 20 is positioned at the actual component supply position sufficiently close to the ideal component supply position. Is done. Therefore, despite the relative height error between the rack elevating device 204 and the transport conveyor 206 and the relative height error between the multiple pairs of rails 282, the rail 282
• the support surface 286 of the transfer conveyor 206 is positioned exactly on the same horizontal plane as the support surface 404 of the transfer conveyor 206, and the rack 202 of the pallet 200 and the transfer conveyor. Delivery to and from 206 is performed smoothly.
• the rack elevating motor 302 force is controlled so that the elevating speed at the start of elevating the rack 202 is smoothly increased and the speed is smoothly decelerated at the end of elevating.
• the stop position of the rack lifting / lowering device 204 for positioning the pallet 200 at the component supply position is obtained in advance, and the lifting / lowering speed control can be easily performed based thereon.
• the pallet 200 positioned at the component supply position is moved by the transport conveyor 206 in a horizontal direction parallel to the component storage plane, and is pulled out from the storage position stored in the rack 202.
• the mounting head 60 is moved from the S tray 50 to a component extraction allowable position where the circuit component 20 is allowed to be extracted. After the circuit component 20 is supplied, the circuit component 20 is returned to the rack 202.
• the holders 410 of the transport conveyor 206 are positioned at the holding position and are on standby in preparation for holding the pallets 200.
• the holding position is the pair of chucks 4 58 force S of the holder 4 10, the pallet transport direction, and the direction parallel to the longitudinal direction of the rail 2 32 This position is located at approximately the same position as the handle 222 of the stored palette 200.
• the pair of chucks 458 are open and A pair of grips 2 28 of each handle 2 26 of the plurality of stored pallets 200 can pass between them without interfering with the gripping claws 4 0 6 4 6 2. You.
• the storage position of the pallet 200 stored in the rack 202 in the transport direction is determined by the rotation limit of the first gripping claw 32 2 defined by the stopper 350.
• the stopper 350 is shared by all of the plurality of pallet gripping devices 320, and the position of each handle 226 of the plurality of pallets 200 in the transport direction in the state of being stored in the rack 202 is as follows. As a result, interference with the chuck 458 during lifting and lowering of the rack is avoided, and the handle 222 of the pallet 200 positioned at the component supply position is gripped by the chuck 458.
• the pallet 200 is fixed to the rack 202 by the pallet gripping device 320, and the tray 50 cannot be moved with respect to the pallet 200 by the restraining members 272, 274.
• the pallet 200 does not move with respect to the rack 202 when the rack 202 moves up and down, and the tray 50 does not move with respect to the pallet 200. Even if impact is applied to the pallet 200 via the rack 202 at the start or stop of lifting / lowering, the vibration of the pallet 200 and the tray 50 is suppressed, and the pallet 200 is accommodated in the accommodating recess 216.
• the deviation of the circuit component 20 and the change of the posture are small.
• the pallet 200 is provided with a vibration absorbing layer 250, and even if vibration is transmitted to the pallet 200, the vibration is absorbed by the pallet itself.
• the transmission to the tray 50 can be reduced, and the displacement of the circuit components 20 can be satisfactorily suppressed.
• the pallet 200 is formed by laminating a vibration absorbing layer 250 and a magnetic material layer 252, 254.
• the pallet 200 is provided with vibration absorbing capability, has rigidity, and is formed to be thin and light. The vibration transmitted to the knurl 200 is absorbed, and does not continue to vibrate for a long time.
• the pair of grips 228 of the handle 226 of the pallet 200 are respectively paired. Is located between the gripping claws 460 and 462 of the chuck 458, the chuck 458 is closed, the grip portion 228 is gripped, and the notch 200 is held by the holder. While being held by 410, the pallet gripping device 320 releases the pallet 200 from gripping.
• the first and second gripping claw rotating devices 352, 374 rotate the claw holders 32, 36, and release the first and second gripping claws 32, 32, 34, respectively. It is pivoted to the position.
• Holding the handle 2 26 by the holder 4 10 and releasing the palette 2 0 0 by the pallet gripper 3 2 0 means holding the handle 2 6 6 by the holder 4 10 and the pallet gripper 3 2 0 It is desirable that the pallet 200 is held so as not to be held at the same time. Therefore, in the present embodiment, the release of the pallet 200 by the pallet gripping device 320 and the holding of the handle 226 by the holder 410 are performed in parallel, and the gripping claws 3 2 2, 3 2 4 starts rotating to the release position, the gripping claws 4 60, 4 62 start moving to the gripping position, and the gripping claws 3 2 2, 3 2 4 engage the engaging surface 2.
• the gripping claws 4 60 and 4 62 engage with the grip portion 2 68 and start holding. Therefore, the pallet 200 is not twisted, is held by the holding tool 410, and is in a free state in which the pallet 200 is not held by any of the holding tool 410 and the pallet gripping device 320. There is no danger of changing.
• the holding tool is held. 4 10 may start holding the handle 2 6 6.
• the conveyor belts 400 and 400 move in the direction in which the moving member 450 moves forward, that is, from the rack 202. Orbit in the direction away.
• the knobs 200 held by the holders 410 are pulled out of the rack 202, and the pair of rails 232 is moved from the rails 282 of the rack 202 to the pair of conveyor belts 4. Transfer on the support 4 2 4 of 0 4, 4 6.
• the pallet 200 for supplying the circuit components 200 is positioned with high positioning accuracy (at the actual component supply position sufficiently close to the ideal component supply position) by moving the rack 202 up and down.
• the support surfaces 4 2 6 of the conveyor belts 4 4 and 4 6 6 and the support surfaces 2 8 6 of the rail 2 8 2 supporting the palette 2 0 positioned at the actual parts supply position of the rack 2 are located at exactly the same height.
• a guide surface 236 is provided on the lower surface of the end of the rail 232 of the pallet 200 in the pallet transport direction, and the pallet 200 moves over due to the inclination of the guide surface 236.
• the pallet 200 can be smoothly moved even if there is a slight difference between the heights of the support surface 426 and the support surface 286.
• the rail 232 has a flat surface with its lower surface extending in the pallet transport direction.
• the portion after the tip continues smoothly. Transfer to conveyor belt 4 0 4 '4 0 6. Further, the support portions 426 of the conveyor belts 404, 406 and the rail 282 are provided close to each other with a very short distance therebetween, and the pallet 200 has a During the transfer, almost the entire rail 232 is supported by the rail 282 and the conveyor belts 404, 406, so that the vehicle can move in a stable state.
• the holding tool 410 holding the pallet 200 is attached to the conveyor belts 404, 406, and moves integrally with the conveyor belts 404, 406, and the holding tool 4
• the retainer 411 is inevitably moved by the conveyor belt 404. 0 4, 4 0 6 at the same speed, so that the pallet 200 moves from the rail 282 of the rack 202 to the conveyor belt 40, as shown in Figure 15 (b). 4. Transferred to 406 and transported by Comparator 406, 406. Therefore, the pallet 200 moves relatively with respect to the holder 410 and the conveyor belts 404, 406, and hardly vibrates. 50 also hardly vibrates, and a shift or the like of the circuit component 20 accommodated in the tray 50 is avoided.
• Node 0 200 is transferred from rack 202 to conveyor belts 404 and 406 When it is moved, it enters between the fixed rail 490 of the guide device 208 and the movable rail 492, and is perpendicular to the component accommodation plane of the rail 232 by both rails 490, 492. The movement is guided by being pinched on the side surface 238.
• the movable rail 492 is located at the forward end position by the bias of the spring 510, but the action of the slope of the guide portion 234 provided at the end of the rail 332 causes the pallet 200 to move. Moves the movable rail 492 away from the fixed rail 490 against the biasing force of the spring 5110, enters between the rails 490, 492, and moves the movable rail 492.
• the movable rail 492 can bend in a direction intersecting the pallet transport direction in a horizontal plane parallel to the pallet transport surface, and the movable rail 492 urged by the spring 510
• the pallet 200 can be in contact with the side surface 238 of the rail 230 at three or more places separated in the longitudinal direction, and can be sandwiched together with the fixed rail 490.
• the pallet 200 is sandwiched between the left and right sides by the fixed rail 490 and the movable rail 492 with an appropriate amount of force. You will be guided to move.
• the vibration of the pallet 200 is suppressed, and the displacement and the like of the circuit components 20 accommodated in the tray 50 are avoided. Further, the frictional force between the pallet 200 and the fixed rails 490 and the movable rails 492 is small, so that the pallets 200 can move smoothly and vibration is suppressed.
• the conveyor belts 404 and 406 are made of rubber, and the vibration transmitted to the conveyor 206 is absorbed by the elastic deformation of the conveyor belts 404 and 406. As a result, the transmission to the pallet 200 is suppressed, and the vibration transmitted to the pallet 200 from the holder 410 etc. is also reduced by the elastic deformation and internal friction of the conveyor belts 404, 406. Attenuated.
• the conveyor belts 404 and 406 support the pallet 200 by the outer peripheral surface provided with the teeth 41, and the guide pulleys 42 on the flat inner peripheral surface having no teeth 41. Since it is guided by 8, the vibrations of the conveyor belts 404 and 406 during orbiting can be reduced. If the conveyor belts 404, 406 are guided by the guide pulley 428 on the side where the teeth 412 are provided, the teeth 412 are guided. While the conveyor belts 404 and 406 are vibrated each time they pass over the pulley 428, the conveyor belts 404 and 406 and the guide pulleys 428 contact each other on a smooth surface and are continuously connected. The conveyor belts 404, 406 are caused to circulate with little vibration, and the vibration of the pallet 200 is suppressed. .
• the pallet 200 is formed by laminating a vibration absorption layer 250 and magnetic material layers 252 and 254, and the pallet 200 is moved up and down by raising and lowering the rack 202.
• the effect of reducing the transmission of vibration to the tray 50 due to the absorption of vibration by the vibration itself, a good effect of suppressing the displacement of the circuit component 20, and the effect of early convergence of vibration can be obtained.
• the conveyor belts 404, 406 are stopped in a state where the pallet 200 has reached a preset component removal allowable position.
• the belt drive motor 4 3 4 of the orbiting drive device 4 08 is controlled by the control device 5 3 0 when the conveyor belts 4 0 4 and 6 6 are started to rotate and the pallet 2 0
• the speed is smoothly increased, and control is performed so that the speed is smoothly reduced at the end of the round and at the end of the transport. Therefore, the acceleration and deceleration are smoothly increased and decreased at the start and end of the transport of the palette 200, respectively, and the palette 200 is started and stopped with little impact, and the tray 500 is stopped. Is suppressed.
• the mounting head 60 When the pallet 200 reaches the component removal allowable position, the mounting head 60 is moved to the component removal position by the 3Y moving device 96 and lowered by the head lifting device 104. Then, the circuit component 20 is taken out from the tray 50 supported by the pallet 200. At this time, the mounting head 60 is lowered to a position corresponding to the height of the tray 50 for supplying the circuit components 20.
• the pallet 200 may support only one tray 50, or may support a plurality of stacked trays.
• the uppermost tray 50 supplies the circuit components 20, and when the tray 50 becomes empty, the pallet 20 is provided by the tray extraction device (not shown) provided at the component extraction allowable position.
• the tray 50 which is taken out from the tray 0 and discharged to a discharge device (not shown), is positioned at the uppermost stage by discharging the tray 50, and supplies the circuit component 20. Therefore, every time the tray 50 is discharged, the distance from the support surface 260 which is the upper surface of the pallet 200 of the uppermost tray 50 is reduced.
• the height of the pallet 200 at the part removal allowable position is the conveyor belt 4 0 4, 40 6, the height is constant and constant, and among the plurality of trays 50 supported by the knurls 200, the height of the uppermost tray 50 is tray 5 Each time 0 is discharged, it becomes lower and the distance to the mounting head 60 becomes longer.However, by controlling the descending end position of the mounting head 60, it is adjusted according to the height of the uppermost tray 50. The mounting head 60 is lowered to the set position, and the circuit component 20 is sucked without any trouble.
• the height of the uppermost tray 50 out of the at least one tray 50 supported on the pallet 200 detects the height of the tray 50 with respect to the pallet 200. It is obtained by doing. Therefore, first, the height of the pallet 200 in a state where the tray 500 is not supported is detected by the tray height confirmation sensor 550.
• the tray height confirmation sensor 550 is constituted by a transmission type photoelectric sensor which is a kind of a photoelectric sensor. Tray height The transmitter and receiver (not shown) of the confirmation sensor 550 are located above the position corresponding to the component supply position of the frame 300, and sandwich the rack 202. The rack is located at a position separated in the pallet transport direction, and is inserted into and removed from the rack 202 at the component supply position. Is detected. The transmitter and receiver of the tray height confirmation sensor 550 must also be able to block the light emitted by the transmitter in the width direction of the rack 202 by the positioning surface 262 and the grip 264. And the height of the support surface 260 and the height of the uppermost tray 50 are detected.
• empty pallets 200 are stored in all the shelves 284 of the rack 202, and the height of each of the pallets 200 is detected.
• the rack 202 is raised from the lower end position and the pallet 200 reaches the portion where the tray height confirmation sensor 550 is provided, the light emitted from the projector emits the pallet body 230
• the output signal of the tray height confirmation sensor 550 changes from ON to OFF. The change in this signal detects that the palette 200 has reached the height confirmation position.
• the end detecting the accumulated rotation angle (rotational position) of the rack elevating motor 302 is performed.
• the count value of the coder is the height of the pallet 200
• data specifying the storage position of the pallet 200 in the rack 202 is attached to each of the plurality of shelves 284 of the rack 202.
• the information is stored in a palette height memory provided in the RAM 536 of the computer 540, in association with the number which is the shelf identification information or the storage position identification information.
• the height of the pallet 200 is a unique value for each of the plurality of pallets 200 mounted on the rack 202, is detected and stored in advance, and The data is stored in the backup unit and remains even if the power is turned off.
• the tray 50 is mounted on the knurl 200, and the height of the tray 50 supported by the pallet 200 is set prior to the start of mounting the circuit components 20 on the series of printed wiring boards 14. Is detected.
• the rack 202 is raised, and for each of the plurality of pallets 200, the tray 50 blocks the light emitted from the emitter of the tray height confirmation sensor 550, and the amount of light received by the receiver is threshold.
• the count value of the encoder of the rack elevating motor 302 is acquired as the height of the tray 50, and the pallet 2 supporting the tray 50 Stored together with the height of 00.
• the difference between the encoder value obtained for pallet 200 and the encoder value obtained for tray 500 corresponds to the sum of the thicknesses of all trays 50 supported on pallet 200, This represents the height of the uppermost tray 50 with respect to the palette 200 (support surface 260).
• the height of the tray 50 is detected, for example, every time the tray 50 becomes empty and is discharged from the palette 200.
• the circuit components 20 disappear during the supply, and when the tray 50 is discharged, they are stored in the same pallet 200.
• the height of the tray 50 is detected and used for controlling the lowering position of the mounting head 60. When the height is detected, the tray 50 is returned to the rack 202.
• the height of the pallet 200 in a state where the pallet 200 is supported by the conveyor belts 404 and 406 of the transport conveyor 206 at the component take-out allowable position is obtained in advance based on the height of the support surface 426, and is a unique value.
• the height of palette 200 is the same for all palettes 200 Yes, errors are ignored. Therefore, the height of the pallet 200 at the component take-out allowable position, and the uppermost tray 50 of the trays 50 supported by the pallet 200, which is the tray 5 for supplying the circuit components 20 From the height of the pallet 200 with respect to the pallet 200, the distance between the tray 50 at the component removal allowable position and the mounting head 60 at the rising end position is obtained, and the mounting head 6 is determined based on the distance.
• the descending end position of 0 is controlled, and the suction nozzle 1 14 is lowered to a position where the circuit components 20 housed in the S tray 50 can be reliably sucked without damage.
• Pallet 200 moves smoothly when returning. At this time, the transfer of the pallet 200 is performed by the guide surface 236 provided at the longitudinal end of the rail 232 and the guide surface 288 provided at the front end of the rail 282. While being guided, it is guided by a guide portion 234 provided at the longitudinal end of the rail 232.
• the pallets 200 are returned to the racks 202, and when they are stored, they are conveyed with vibration suppressed as in the case where they are pulled out of the racks 202, and the conveyor belts 404, 406 From the rack 202.
• the holding tool 4 10 The release of the handle 260 by the pallet and the gripping of the pallet 200 by the pallet gripping device 320 are performed in parallel. Thereafter, the rack 202 is moved up and down, and then the pallet 200 for supplying the circuit component 20 is positioned at the component supply position. Although illustration and detailed description are omitted, in the tray-type component supply device 26, the illustration of the storage of the palette 200 in the rack 202 and the arrival of the component at the component removal allowable position is omitted. The detection is performed by a sensor, and based on the detection, an operation to be performed next, such as lifting and lowering of the rack 202, is performed.
• the height of the tray 50 supported by the palette 200 of the control device 530 with respect to the palette 200 and the height of the palette 200 are determined. Is the height of all the trays 50 mounted on the pallet 200 and the height of the tray 50 for supplying the circuit components 20 with respect to the palette 200 is calculated as follows.
• a tray height acquisition unit based on the tray pallet height difference is configured together with the tray height confirmation sensor 550 as a height detection device, and the height is adjusted according to the height of the tray 50 mounted on the pallet 200.
• a portion that controls the head lifting device 104 and controls the lower end position of the mounting head 60 constitutes a height control unit.
• the part that controls the belt drive motor 4 3 4 of the control device 530 and controls the transfer speed of the pallet 200 forms a pallet transfer acceleration / deceleration control unit and controls the rack elevating motor 3 02
• the portion for controlling the vertical speed of the rack 202 constitutes a rack vertical acceleration / deceleration control unit.
• a part for determining a plurality of stop positions of the rack elevating device 304 of the control device 530 forms a stop position determining unit, and based on the determined stop position, a rack elevating device 204
• the elevator control unit is configured together with the part that controls the rack and the rack elevating device operating position memory that configures the rack elevating device operating position storage unit, and the height is adjusted together with the transfer sensor 3 1 2 that configures the component container holding unit detection device. Configure the device.
• the conveyor belts 404, 406 of the transport conveyor 206 are provided.
• the support portion 424 of the guide rail 428 may be supported by a guide rail 600 as a belt support member, as shown in FIG.
• the electronic circuit component supply device is a tray-type component supply device, which includes a pallet, a relative movement prevention device, a holder for the transport conveyor, a guide device for guiding the movement of the pallet by the transport conveyor, and a pair of conveyor belts of the transport conveyor.
• the belt supporting member for supporting the tray type component supply device is different from the tray type component supply device 26 of the embodiment shown in FIGS.
• the other parts are configured in the same manner as the tray type component supply device 26 and the electronic circuit component mounting machine including the same, and the description is omitted. Also, components having the same functions as the components of the above-described embodiment are denoted by the same reference numerals, and the corresponding relationships are shown, and the description is omitted.
• the pallet 640 and the pallet holding device 650 as a relative movement preventing device will be described.
• the pallet holding device 65 is provided on the rack 652 in the same manner as the pallet holding device 320.
• the rack 652 has almost the same configuration as the rack 202, and the pallet holding device 650 corresponds to each pair of the plurality of pairs of rails 6556 of the rack body 654. Each part is provided.
• the plurality of pallet holding devices 65 0 are respectively a pallet holding pin 660 as a component container movable holding member, a pallet holding surface 66 2, which is a component holder parallel holding surface of the component container fixed holding member. Includes pallet holding pin moving device 6 6 4.
• the pallet holding pin moving device 666 includes a pin driving member 668 common to the plurality of pallet holding pins 660 and an air cylinder 670 as a driving source. As shown in FIG. 23, mounting members 674 are provided on one outer surface of the pair of side walls 672 of the rack body 654 in a vertical direction, and between the side walls 672. The direction in which the pin driving member 668 is parallel to the support surface 676 supporting the pallet 6400 of the rail 656 from below, and the width direction or the left-right direction of the rack 652 (support surface 6 (In the direction parallel to the longitudinal direction of the rails 656 in a plane parallel to 6).
• the pin drive member 6 6 8 has a long plate shape, and a plurality of pairs of rails in the vertical direction It is disposed over the entirety of 656 and is moved by an air cylinder 670 mounted on the mounting member 670, and approaches and separates from the pallet holding surface 662 on the other side wall 672 side. Let me do.
• the movement of the pin driving member 6 6 8 is performed by a guide device 6 8 2 including a pair of guide members 6 8 8 and a guide block 6 8 0 (one is shown in FIG. 23). Guided by
• Each of the pallet holding pins 660 of the plurality of pallet holding devices 650 corresponds to each of the plurality of pairs of rails 656 of the pin driving member 668, as partially shown in FIG. Each part is fitted linearly and relatively movably in a direction parallel to the left-right direction of the rack 652.
• the pallet holding pin 660 has a circular cross-sectional shape, and the end of the rack 652 on the side of the rack 652 has a conical shape.
• the joint is 6 8 6.
• the pallet holding pin 660 is provided with a pin driving member 66 by a compression coil spring 688 serving as a spring member as an elastic member which is a kind of biasing means disposed between the pin driving member 668 and the pin driving member 668.
• the movement limit of the pallet holding pin 660 due to the bias of the spring 688 is such that the retaining ring 689 provided on the pallet holding pin 660 and constituting a prescribed portion is driven by a pin. It is defined by abutting on the abutting portion 692 provided on the member 688 and constituting the defining portion.
• the plurality of pallet holding pins 660 are simultaneously moved by the pin driving member 668 being moved by the air cylinder 670, and a holding position for holding the pallet 640 and a knurl 640 are provided. It is moved to the release position to release 0.
• the pallet holding surface 662 is formed by a surface perpendicular to the supporting surface 676 of the other side wall 672 of the rack body 654. It is provided. The portion of the side wall 672 where the pallet holding surface 662 is provided constitutes a component container fixing and holding member.
• An engagement groove 72 having a V-shaped cross section is provided substantially vertically in the center of the one parallel to the pallet conveyance direction.
• the pin driving member 668 is located at the retreat end position furthest away from the rack 652, and the pallet holding is performed.
• Pin 660 force As shown by the two-dot chain line in FIG. 23, the engaging portion 686 is disengaged from the engaging groove 702 and is located at the release position retracted into the opening 690.
• the knowledge retaining pins 660 do not interfere with the sights 700 of the pallet 640, and allow the knowledge 640 to enter and exit the rack 652. Interference between the knurling pin 660 and the mounting member 674 is avoided by the opening 710 provided in the mounting member 674.
• Pallet holding device 6 5 0 force When holding a pair of rails 7 0 0 on a pair of rails 6 5 6 and supporting a pallet 6 4 0 supported from below by a support surface 6 7 6
• the pin driving member 668 is advanced by the air cylinder 680, and the plurality of pallet holding pins 660 are simultaneously advanced, and are protruded into the rack body 654 to engage with the engagement groove 70. Inserted into 2.
• the engaging portion 686 and the engaging groove are fitted into the engaging grooves 720 by the action of the respective inclined surfaces 92, and the other of the pair of rails 700 is pressed against the pallet holding surface 662.
• the pallet holding pin 660 and the pallet holding surface 662 engage with each of the pair of pallets 700 of the pallet 640 from a direction parallel to the supporting surface 676 to form the pallet 6.
• the movement of the pallet holding pin 660 along with the pallet holding surface 626 holds the pallet 6 5 Fix to 2.
• the pallet 640 is positioned by the pallet holding surface 662 in the left-right direction.
• the pallet holding surface 662 is also a pallet positioning surface.
• the pallet 640 can be moved in and out of the rack 652 by, for example, an operator, and the entire rack 652 is deviated from the component supply position, for example, the pallet access area above the component supply position. It is performed in a state where it is moved to the pallet storage work area.
• the front of the pallet loading / unloading area portion on the conveyor side
• the storage end position defining member that defines the storage end position of the pallet 640 in the rack 652 in a direction parallel to the longitudinal direction of the rail 656 is the same as the frame 300.
• the position is fixed on a similar frame (not shown), and the rack is provided over the entire pair of rails 656 of the rack 652.
• the operator opens the door on the back side of the cart (opposite the conveyor), places the pallet 640 on the rail 656, and pallets until it is specified by the storage end position defining member. Forward and store pallet 640 on the shelf. After storage, if the door of the cart is closed, the pallet 640 is positioned in the front-back direction. In such a position, the engagement groove 720 of the pallet 64 and the pallet holding pin 660 almost coincide with each other in the front-rear direction, and the pallet holding pin 660 is moved forward. Then, the pallet 640 can be held in the engagement groove 732 to hold the pallet 640.
• the storage end position defining member is not provided at the component supply position, and the transfer of the pallet 64 to the transport conveyor is not hindered.
• a storage preventing member for preventing the pallet 64 from being stored in the rack 652 is provided, When the storage end position is not specified, the pallet 640 is not stored in the rack 652.
• the forward end position of the pin driving member 668 is further than the position at which the pallet holding pin 660 fits into the engaging groove 720 and is to be engaged with the groove side surface of the engaging groove 702.
• the pin drive member 668 is set to the advanced position, and extra movement of the pin drive member 668 causes the spring 688 to be compressed and the pin drive member 668 to move relative to the pallet holding pin 660 Allowed. For this reason, the plurality of pallet holding pins 660 are moved forward simultaneously, but due to a manufacturing error or an assembly error of the rack 652 or the pallet 640, etc., the plurality of pallet holding pins 660 are not moved.
• the pallet holding pin 660 does not twist the pallet 640,
• the engagement groove 72 can be securely fitted.
• the pin drive member 668 is retracted by the air cylinder 670 to be separated from the rack 652, and a plurality of pallets are held.
• the pins 660 are simultaneously pulled out of the engagement grooves 702, and the engagement portions 686 are retracted into the openings 690 of the side walls 672, and the pallets 640 are latched. Withdrawal from ku 6 52 is possible.
• the transport conveyor 740 includes a pair of conveyor belts 756, 758 and a circling drive device 760 as in the case of the transport conveyor 206.
• the support portions 762, 746 of the conveyor belts 756, 758 are supported by guide rails 766, 768 as belt support members, respectively.
• the orbital driving device 760 is configured similarly to the orbiting driving device 408, and each of the pair of guide rails 766 and 768 is provided with a pair of supporting members 7 7 together with the orbiting driving device 760. It is attached to 0, 7 72.
• Reference numeral 686 has a similar configuration, and the guide rail 766 will be representatively described with reference to FIG.
• the conveyor belt 756 supported by the guide rail 766 is a timing belt provided with teeth on the outer peripheral surface in the same manner as the aforementioned conveyor belts 404 and 406, and the guide rail 766 is a conveyor belt 7.
• the belt support surface 776 which contacts the flat inner peripheral surface of the belt 6 and supports it from below, is provided along both edges parallel to the longitudinal direction of the belt support surface 776, respectively. Regulators projecting at right angles from 6
• the belt support surface 776 is coated with polytetrafluoroethylene and made of a low-friction material.
• a groove 7802 is formed, which is opened to the belt support surface 776 and penetrates in parallel with the longitudinal direction of the guide rail 766. Interference with a port nut for fixing the moving member described above to the conveyor belt 756 is avoided.
• the conveyor belt 756 is wound around a guide pulley 784 constituting the orbiting driving device 760 and the like, and is placed on the belt support surface 776 of the guide rail 766 to form the belt support surface 7.
• the belt support member is a guide rail, the number of parts required for guiding the conveyor belt is smaller than when a guide pulley is used, and installation is easy.
• a plurality of guide devices 752 are mounted on the pair of support members 770, 772, respectively. It includes a guide roller 790 (only one is shown in FIG. 27) as a rotation guide member. Each of these three guide rollers 790 is rotatably mounted on supporting members 770, 772 about an axis perpendicular to the pallet transport plane and perpendicular to the component receiving plane, respectively.
• the three guide rollers 790 on one side are provided side by side along a straight line parallel to the pallet transport direction.
• the three guide rollers 790 are provided on both sides in the component receiving plane of the pallet 640 conveyed by the conveyer 740.
• the guide roller 790 is made of rubber, and a part of the outer peripheral surface thereof is projected on the guide rails 766, 768.
• the holders 750 are provided at both ends of the pair of conveyor belts 756, 758 at the portions constituting the support portions 762, 746 in the longitudinal direction.
• the section is provided on a movable member 800 detachably fixed, and is moved at the same speed as the conveyor belts 756 and 758.
• the retainer 750 includes a pair of engagement pins 802, 804 as engagement members, and the engagement pins 800, 804 They are moved by engaging pin moving devices 806 and 808 as engaging member moving devices, respectively.
• the pair of engaging pins 802, 804 and the engaging pin moving device 806, 808 have the same configuration, respectively, and the engaging pin 802 and the engaging pin moving device 80, respectively. 6 will be described as a representative.
• the engaging pin 802 has a circular cross-sectional shape and a conical engaging protrusion. It has a unit 8 10.
• the engaging pin 800 is provided on the rack 652 side surface of the moving member 800 with a guide rail 816 and a guide block 8 as a guide member, respectively.
• the pallet is guided by a guiding device 8 20 including the pallet 8 and provided so as to be movable in a direction parallel to the pallet transport direction in a plane parallel to the pallet transport plane, and outwardly, that is, the engaging projection 8 1 0 is provided on the conveyor belt 7556 side.
• the engaging pin 800 has a shaft-like portion 826 parallel to the moving direction of the engaging pin 802 and opposite to the engaging projection 810. And is fitted to a bracket 828 provided on the moving member 800 so as to be relatively movable in the axial direction.
• the engaging pin 802 is urged outward by a compression coil spring 830 which is a spring member as an elastic member, which is a kind of urging means provided between the bracket 828 and the engaging pin 802, and is engaged.
• the projection 8100 is urged in a direction to fit into an engagement groove 832 as an engagement recess provided on the front surface of the pallet 6400.
• the engagement groove 832 has a substantially triangular cross-sectional shape, and is provided to penetrate vertically.
• the limit of the movement of the engagement pin 802 due to the bias of the spring 830 is defined by the stopper 834 provided on the shaft portion 826 contacting the bracket 828.
• the engagement pin 8302 is fitted into the engagement groove 832 as shown by a two-dot chain line in FIG. 27 by the bias of the spring 8330, and the engagement groove 832 of the pallet 6400 is The held portion, which is the provided portion, is held in a held state.
• the engagement pin 8302 fits into the engagement groove 832 before the movement is regulated by the stopper 833, and holds the palette 640.
• the holding of the pallet 640 of the engaging pin 802 by the bias of the spring 830 is released by the pin releasing device 840.
• the pin release device 840 includes an air cylinder 850 as a drive source and an arm 852 as a drive member, and is held by the pair of support members 770, 772.
• the support member 854 (see FIG. 26) is provided at a fixed position.
• the arm 852 is moved by the air cylinder 850 in a direction parallel to the moving direction of the engaging pin 802, and the engaging pin 802 is moved to the moving end position by the bias of the spring 830.
• the engaging portion 8 is provided on the outer side (spring 830 side) of the engaging portion 856 provided on the shaft portion 826. Located with a gap between 5 and 6 As shown by the solid line in FIG.
• the engaging portion 856 is engaged with the non-operating position or the standby position, and the engaging pin 802 is moved against the urging force of the spring 830.
• the engagement projection 810 is moved to the operation position where the engagement projection 810 comes out of the engagement groove 832.
• the engagement pin moving device 806 includes the spring 830 and the pin releasing device 840. The same applies to the engagement pin moving device 808.
• the engagement grooves 832 are provided at two locations separated from each other in the width direction of the front surface of the pallet 64 so as to face each other.
• the two engaging pins 800, 804 provided opposite to each other with the protruding portions 810 facing outwards with the conveyor belts 756, 758 facing the engaging pin moving device 8 are provided. They are moved in opposite directions by 06 and 808, are fitted into the engagement grooves 832, and are separated.
• the holder 750 When the rack 652 is moved up and down, as shown in FIG. 25, the holder 750 is positioned at the holding position adjacent to the rack 652 in the pallet transport direction, and the palette 64 In preparation for the holding of The arm 852 is located at the operating position, and the pair of engaging pins 802, 804 are disengaged from the engaging projections 810 from the engaging grooves 832, so that the pallet 6400 is disengaged. It is located at the release position to release. Therefore, the portion of the pallet 640 provided with the engagement groove 832 can be moved up and down without interfering with the engagement pins 802 and 804. When one of the plurality of pallets 640 is positioned at the component supply position, the arm 852 is moved to the standby position by the air cylinder 850.
• the engaging pins 8 02 and 8 04 are respectively advanced by the bias of the spring 8 30, and the engaging projections 8 10 are fitted into the engaging grooves 8 32.
• the movement limit of the engaging pins 802, 804 due to the bias of the spring 830 is limited to the stopper portion 834 and the bracket 828.
• the engagement projection 810 engages with the groove side surface of the engagement groove 832 before being specified by the contact with the engagement groove 832, and the pair of engagement pins 800, 804 move in opposite directions. As a result, a state is obtained in which the palettes 64 are held in a state of being stretched against each other.
• the arm 852 is moved to a preset standby position, and the arm 852 is moved to the engagement portion.
• the engagement pins 800 and 804 are inserted into the engagement grooves 832 by the bias of the springs 8300, and are held in a state where the pallet 6400 is held. Dripping. Also, The arm 852 is separated from the engaging portion 856 to allow the holder 750 to hold the pallet 64 and move.
• the conveyor belts 756, 758 are circulated by the circulating drive device 760, and the moving member 800 is moved and held.
• the pallet 640 held by the tool 750 is moved, pulled out of the rack 652, transferred to the conveyor belts 756, 758, and transported.
• the guide roller 790 has a part of its outer peripheral surface on the guide rails 766, 768, and slightly protrudes into the transport path of the pallet 640.
• the guide is guided by the inside 860, which is inclined at the front end of the pair of rails 700 and a pair of rails, and is made of rubber between the guide rollers 790 on both sides of the pallet 6400.
• the guide roller 790 enters while being elastically deformed, and is pinched from both sides by the guide roller 790 to restrict the movement in the left-right direction, thereby guiding the movement in a positioned state.
• the pallet 640 is held in the left and right direction by the rack 652 and is held by the holder 750, and is transferred from the rail 702 of the rack 652 to the conveyor belts 756, 758. At this time, it is housed in a position where it can enter smoothly between the guide rollers 790 on both sides.
• the bearing surface 776 of the guide rails 766, 768 has a low coefficient of friction, and the conveyor belts 756, 758 have low friction, are smoothly oscillated with little vibration, Pallet 640 is conveyed with less vibration.
• each arm 852 of the pair of engagement pin moving devices 806, 808 is located at the standby position, and each of the engagement portions of the pair of engagement pins 800, 804 is engaged. 8 5 6 is advanced between the arms 8 52.
• the arm 852 After the holder 750 is moved to the holding position, the arm 852 is moved to the operating position, but engages with the engaging portion 856 on the way, and the engaging pins 802, 804 Is retracted against the urging force of the spring 8300, the engaging projection 8100 is disengaged from the engaging groove 832, and the pallet 6400 is released.
• the timing of holding and releasing the pallet 640 by the holding tool 650 and the holding and releasing of the pallet 640 by the pallet holding device 650, and positioning the elevation position of the rack 652 And the like are performed in the same manner as in the above-described embodiment, and thus the description is omitted.
• the holding surface (pallet holding surface 662) of the component container holding device (pallet holding device 650) in the component container parallel direction may be formed of a low friction material.
• the low friction material can be made of, for example, polytetrafluoroethylene.
• the fixed engagement member of the component container holding device may be a pallet holding pin similar to the pallet holding pin 660.
• the fixed engagement member of the component container holding device may be a roller. At least one roller is provided on a portion of the rack where the rail is provided so that it can rotate around a rotation axis perpendicular to the container support surface, and a part of the outer peripheral surface protrudes above the rail.
• each of the plurality of component container holders includes a container support surface that supports the component container from below.
• the relative movement preventing device engages each of the plurality of parts of the component container from a direction parallel to the container support surface, and moves the component container at least in a direction parallel to the component container support surface. It can be considered to include a parallel movement prevention device for preventing the movement.
• Each of the plurality of parallel movement preventing devices provided corresponding to each of the plurality of component container holders constitutes a relative movement preventing device.
• the pallet holding device 320 and the pallet holding device 65 are one embodiment of the parallel movement preventing device.
• Each of the plurality of component container holding portions has a container support surface for supporting the component container from below, and the relative movement preventing device is provided at a plurality of positions of the component container from a direction perpendicular to the container support surface. May be included to prevent movement in a direction perpendicular to at least the component container support surface of the component container.
• the device which is one mode of the parallel movement prevention device, includes: a plurality of engagement members that engage with each of a plurality of locations of the component container; and at least one of the plurality of engagement members includes the container support surface. And an engaging member moving device for moving the member in a direction parallel to the moving direction. A pair of the first and second gripping claws 32 2 and 3 24 of the pallet gripping device 320 are engaged with each other. , And the first and second gripping claw rotating devices 3552 and 374 correspond to the engaging member moving device. At least one of the plurality of engaging members is a stationary engaging member provided at rest, and another at least one of the plurality of engaging members is moved toward and away from the fixed engaging member by the engaging member moving device.
• the movable engagement member can be used.
• the pallet holding pin 660 of the pallet holding device 650 is provided on the movable engaging member, and the portion of the rack body 654 provided with the pallet holding surface 662 is provided on the fixed engaging member.
• the holding pin moving devices 664 correspond to the engaging member moving devices, respectively.
• the pallet gripping device 320 is an embodiment of a parallel movement preventing device in which all of the plurality of engaging members are movable engaging members.
• a plurality of movable engagement members provided for each of the plurality of component container holding portions are combined with a drive member common to the plurality of movable engagement members and a drive source for driving the drive member.
• the movable member is moved by the engaging member moving device, and the plurality of movable members are relatively movable with respect to a common driving member, and each movable member is movable between the movable engaging member and the common driving member.
• An urging means for urging the member toward a common drive member in a direction approaching the component container can be provided.
• the claw holders 32 6 and 36 0 and the pin driving member 668 each correspond to a common driving member, and the air cylinders 34 0, 36 6 and 67 0 correspond to a common driving source. .
• the plurality of engagement member moving devices that move the plurality of movable engagement members, respectively, may be devices each including a dedicated driving member and a driving source.
• the movable engagement members can be individually engaged and disengaged with respect to the plurality of component containers. For example, only the component container that is pulled out from the rack and supplies the electronic circuit components can be moved. The engagement of the engaging member is released and the movable member is disengaged, and the component container that does not supply the electronic circuit component can keep the engaging member engaged, and there is no danger of movement. Even when the plurality of movable engagement members share the same drive member and drive source, the engagement of the movable engagement member may be released only for the component container that supplies the electronic circuit components.
• an engagement release device for releasing the engagement of the movable engagement member with the component container is provided at a portion corresponding to the component supply position of the rack. For example, if the pallet is held by the pallet holding device 650, the pallet holding pin 660 is retracted against the urging force of the spring 688, and the engaging portion 686 is engaged. If you leave from 70 2
• a disengagement / engagement permitting device that allows the pallet holding pin 660 to engage with the pallet 640 by the bias of the spring 688 is provided.
• the electronic circuit component supply device may be configured such that the holding tool that holds the held portion of the component container and moves at the same speed as the pair of endless transport members holds the held portion. It can be considered to include an urging means for keeping, and a holder releasing device for causing the holder to release the held portion against the urging force of the urging means.
• the holder releasing device can be provided at least in a fixed position in the transport direction of the component container by the endless transport member.
• the spring 4 72 of the holder 4 10 and the spring 8 3 0 of the holder 7 5 0 correspond to biasing means, and the chuck driving device 4 7 4 and the pin release device 8 4 0 hold respectively. It is equivalent to a tool release device.
• the holder includes at least one movable holding member
• the electronic circuit component supply device includes a holding member moving device that moves the at least one movable holding member.
• the holding member moving device includes the urging means and the holder releasing device.
• Each of the pair of chucks 458 and each of the pair of engagement pins 800, 804 correspond to a movable holding member, and a spring 472 and a chuck driving device 474 are used as a holding member moving device.
• the engaging pin moving devices 806 and 808 each correspond to a holding member moving device.
• the holding member moving device may be configured to move the at least one movable holding member in a direction intersecting with the direction of transport of the component container by the endless transport member.
• the engaging pin moving devices 806 and 808 each correspond to the holding member moving device.
• the holding member moving device is configured to move the at least one pair of the movable holding members in directions opposite to each other in a direction orthogonal to the direction of transport of the component container by the endless transport member. It can be moved.
• the pair of engaging pins 800 and 804 correspond to a movable holding member
• the engaging pin moving devices 806 and 808 correspond to holding member moving devices, respectively.
• the holding member moving device may be provided on each of the pair of movable holding members, or at least a portion may be provided in common. For example, it can be a device that moves a pair of movable holding members by one driving source.
• One of the held portion and the movable holding member has a concave portion, and the other has a protruding portion that can be fitted to the concave portion. Can be held.
• the positioning recesses 4 6 6 and 4 6 8 of the gripping claws 4 6 0 and 4 6 2 correspond to recesses
• the grips 2 6 8 of the handle 2 6 6 correspond to projections
• the engaging grooves 8 3 2 correspond to the protrusions.
• the engaging projections 8100 of the engaging pins 802, 804 correspond to the engaging projections.
• the guide device for guiding the movement of the component container by the component container moving device includes a pair of guide members, for example, the pair of guide members are provided on both sides of the component container in the component storage plane. And a guide roller rotatably provided around an axis intersecting the component housing plane.
• a plurality of guide rollers are provided on each side of the component container in the component receiving plane, for example, three or more guide rollers are provided on each side, and a plurality of guide rollers on each side are provided. It can be provided side by side along a straight line parallel to the moving direction of the component container.
• at least a portion of the guide roller that contacts the component container is formed of rubber or the like.
• the guide roller 790 of the guide device 752 corresponds to the guide roller.
• the conveyor belt of the conveyor may be a timing belt having a large number of teeth on its inner peripheral surface, and its supporting portion may be supported by a guide rail, or may be supported by a plurality of guide pulleys.
• first gripping member driving device and the second gripping member driving device may be provided exclusively for each of the plurality of first gripping members and the second gripping members.
• the gripping of only the first and second gripping members for gripping the component container positioned at the component supply position is released to make the component container movable, and the component for supplying the circuit component is provided.
• the component containers other than the container can be fixed to the rack.
• the first and second gripping members and the first and second gripping member driving devices of the component container gripping device are arranged such that the first and second gripping members move from the direction intersecting the component storage plane to the component container. It may be engaged and gripped.
• the tray may be made of a vibration absorbing material.
• the mounting head is moved in XY by the mounting head moving device.
• the so-called XY robot-type electronic component mounting machine that can be moved to any position in the coordinate plane, but also other types of electronic circuit component mounting machines, such as index table type (or rotary type) heads It can be a rotating electronic circuit component mounting machine.
• An index table type electronic circuit component mounting machine includes a rotating body and a rotating body rotating device for rotating the rotating body, and a plurality of mounting heads held by the rotating body are respectively held by rotation of the rotating body.
• At least one of the suction holders is sequentially moved to a plurality of stop positions, receives electronic circuit components from the component supply device at the component receiving position, and mounts the electronic circuit components on the circuit board at the component mounting position. is there.
• the board holding device is moved by the board holding device moving device, and the component mounting position of the circuit board is positioned at a position corresponding to the component holder positioned at the component mounting position.
• the rotating body and the rotating body rotating device constitute a head turning device, and together with the substrate holding device moving device, constitute a relative moving device for relatively moving the mounting head and the substrate holding device.
• Head turning type electronic circuit component mounting machines also include a plurality of mounting heads, each of which is provided on a plurality of turning members that can turn independently of each other about a common turning axis. is there.
• Each of the plurality of turning members makes a round around the above-mentioned turning axis, includes one or more stops during the round, and a turning motion having a certain time difference from each other by the turning motion applying device. Granted.
• an electronic circuit mounting machine including a plurality of mounting units in series may be used.
• Each of these mounting units has a component supply unit, a circuit board holding unit, and a component mounting unit, and mounts electronic circuit components supplied from the component supply unit on the circuit board held by the circuit board holding unit by the component mounting unit. Then, multiple mounting units work together to mount electronic circuit components on one circuit board.
• a plurality of mounting units can be modularized, making it easy to change the configuration of the electronic circuit component mounting machine and replace mounting units.
• Each of the plurality of mounting units can be considered as an electronic circuit component mounting machine.

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• 2004
  • 2004-03-31 JP JP2005505230A patent/JP4484819B2/ja not_active Expired - Lifetime
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